Joystick assembly

ABSTRACT

A joystick assembly for use with a device including a joystick surface and a first magnet having north and south magnetic poles includes a second magnet having north and south magnetic poles and a movable elongated shaft having first and second opposing ends arranged along a major axis of the shaft. The first end of the shaft is coupled to the second magnet such that movement of the shaft results in movement of the second magnet relative to the first magnet such that a line between centers of the north and south magnetic poles of the second magnet is movable relative to a line between the north and south magnetic poles of the first magnet. An attraction of the second magnet to the first magnet results in a restoring force upon the shaft, and the shaft and the second magnet are removable from the joystick surface.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a Divisional application of and claims the benefitof and priority to U.S. patent application Ser. No. 16/034,458 filed onJul. 13, 2018, which is a Divisional application of and claims thebenefit of and priority to U.S. patent application Ser. No. 15/224,942,filed on Aug. 1, 2016 and issued as U.S. Pat. No. 10,048,718, whichapplication is a Continuation-in-Part (CIP) application of and claimsthe benefit of and priority to U.S. patent application Ser. No.14/748,823, filed on Jun. 24, 2015 and issued as U.S. Pat. No.9,852,832, which application claims the benefit of U.S. ProvisionalApplication No. 62/016,772 filed on Jun. 25, 2014 under 35 U.S.C. §119(e), which applications are incorporated by reference herein in theirentirety.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH

Not Applicable.

FIELD

This disclosure relates generally to magnetic field sensors and, moreparticularly, to a joystick assembly for use with a device including atleast a first magnet having north and south magnetic poles.

BACKGROUND

Joystick assemblies are known. A known joystick has a shaft, which canbe moved by a user, and electronics, which can sense the position of theshaft. Some known types of joysticks employ optical elements to sense aposition of the shaft. Other known types of joysticks employ magneticelements to sense a position of the shaft.

Some known types of joysticks employ a restoring force, such that, whenthe user releases the shaft of the joystick, the shaft returns to thecenter zero position. Other known types of joysticks, such astrackballs, can only sense relative motion of the trackballs withrespect to a previous position of the trackballs and do not employ arestoring force.

Additionally, known joysticks are typically substantially fixed to thedevices in which they are used. Further, known joysticks typicallycomprise a plurality of mechanical components, such as actuator devices,springs, and washers. As is known, mechanical components are subject tomechanical wear (e.g., due to mechanical forces) and typically need tobe replaced long before the electrical components (e.g., sensors) inwhich the mechanical components are used with.

SUMMARY

The present disclosure provides a magnetic assembly that may be used ina joystick, or that may be used in other applications, for which magnetsused in the magnetic assembly provide a restoring force, and for whichmovement of one of the magnets used in the magnetic assembly is sensedby electronic circuits associated therewith. An electronic circuit canbe used in the magnetic assembly to provide one or more output signalsrepresentative of one or more angles associated with the magnets. Amagnetic field sensor can include one magnet.

The present disclosure also provides a joystick assembly that may beused in connection with the magnetic assembly according to thedisclosure, or other magnet assemblies. The joystick assembly can have areduced number of mechanical components in comparison to known joystickassemblies. Additionally, the joystick assembly can be adapted for usewith devices in a variety of applications, including consumer,industrial and manufacturing applications.

In accordance with an example useful for understanding an aspect of thepresent disclosure, a magnetic field sensor includes an electroniccircuit. The electronic circuit can include one or more of thefollowing:

a substrate having a major surface disposed in an x-y plane;

first, second, third, and fourth magnetic field sensing elementsdisposed upon the major surface of the substrate and configured togenerate first, second, third and fourth respective electronic magneticfield signals, wherein each electronic magnetic field signal isresponsive to a respective magnetic field parallel to the major surfaceof the substrate, wherein the first and third magnetic field sensingelements have respective first and third maximum response axes parallelto each other, directed in opposite directions, and parallel to themajor surface of the substrate, and wherein the second and fourthmagnetic field sensing elements have respective second and fourthmaximum response axes parallel to each other, directed in oppositedirections, and parallel the major surface of the substrate, wherein thefirst and third major response axes are not parallel to the second andfourth major response axes;

a first differential circuit coupled to the first and third magneticfield sensing elements and configured to generate a first differencesignal related to a difference between the first and third electronicmagnetic field signals; or a second differential circuit coupled to thesecond and fourth magnetic field sensing elements and configured togenerate a second difference signal related to a difference between thesecond and fourth electronic magnetic field signals, wherein the firstdifference signal has an amplitude related to a an x-axis projectionupon the x-y plane and the second difference signal has an amplituderelated to a y-axis projection upon the x-y plane.

In accordance with an example useful for understanding another aspect ofthe present disclosure, a magnetic assembly can include one or more ofthe following:

a first magnet having north and south magnetic poles;

a second magnet having north and south magnetic poles;

a movable shaft fixedly coupled to the second magnet such that movementof the movable shaft results in movement of the second magnet relativeto the first magnet such that a line between centers of the north andsouth magnetic poles of the second magnet is movable relative to a linebetween the north and south magnetic poles of the first magnet, whereinan attraction of the second magnet to the first magnet result in arestoring force upon the shaft; or a magnetic field sensor disposedbetween the first and second magnets, wherein the magnetic field sensorcomprises an electronic circuit.

The electronic circuit can include one or more of the following:

a substrate having a major surface disposed in an x-y plane, wherein theline between centers of the north and south magnetic poles of the firstmagnet is perpendicular to the x-y plane;

first, second, third, and fourth magnetic field sensing elementsdisposed upon the major surface of the substrate and configured togenerate first, second, third and fourth respective electronic magneticfield signals, wherein each electronic magnetic field signal isresponsive to a respective magnetic field parallel to the major surfaceof the substrate, wherein the first and third magnetic field sensingelements have respective first and third maximum response axes parallelto each other, directed in opposite directions, and parallel the majorsurface of the substrate, and wherein the second and fourth magneticfield sensing elements have respective second and fourth maximumresponse axes parallel to each other, directed in opposite directions,and parallel the major surface of the substrate, wherein the first andthird major response axes are not parallel to the second and fourthmajor response axes;

a first differential circuit coupled to the first and third magneticfield sensing elements and configured to generate a first differencesignal related to a difference between the first and third electronicmagnetic field signals; or

a second differential circuit coupled to the second and fourth magneticfield sensing elements and configured to generate a second differencesignal related to a difference between the second and fourth electronicmagnetic field signals, wherein the first difference signal has anamplitude related to a an x-axis projection upon the x-y plane and thesecond difference signal has an amplitude related to a y-axis projectionupon the x-y plane.

In accordance with an example useful for understanding another aspect ofthe present disclosure, a method of sensing a position of a magnet caninclude one or more of the following:

providing, upon a substrate, first, second, third, and fourth magneticfield sensing elements configured to generate first, second, third andfourth respective electronic magnetic field signals, wherein eachelectronic magnetic field signal is responsive to a respective magneticfield parallel to the major surface of the substrate, wherein the firstand third magnetic field sensing elements have respective first andthird maximum response axes parallel to each other, directed in oppositedirections, and parallel to the major surface of the substrate, andwherein the second and fourth magnetic field sensing elements haverespective second and fourth maximum response axes parallel to eachother, directed in opposite directions, and parallel the major surfaceof the substrate, wherein the first and third major response axes arenot parallel to the second and fourth major response axes;

generating a first difference signal related to a difference between thefirst and third electronic magnetic field signals; or

generating a second difference signal related to a difference betweenthe second and fourth electronic magnetic field signals.

In accordance with an example useful for understanding another aspect ofthe present disclosure, a method of sensing a position of a magnet caninclude one or more of the following:

providing a first magnet having north and south magnetic poles;

providing a second magnet having north and south magnetic poles;

providing a movable shaft fixedly coupled to the second magnet such thatmovement of the movable shaft results in movement of the second magnetrelative to the first magnet such that a line between centers of thenorth and south magnetic poles of the second magnet is movable relativeto a line between the north and south magnetic poles of the firstmagnet, wherein an attraction of the second magnet to the first magnetresult in a restoring force upon the shaft; or

providing a magnetic field sensor disposed between the first and secondmagnets, wherein the magnetic field sensor comprises an electroniccircuit.

The electronic circuit can include one or more of the following:

a substrate having a major surface disposed in an x-y plane, wherein theline between centers of the north and south magnetic poles of the firstmagnet is perpendicular to the x-y plane; or

first, second, third, and fourth magnetic field sensing elementsdisposed upon the major surface of the substrate and configured togenerate first, second, third and fourth respective electronic magneticfield signals, wherein each electronic magnetic field signal isresponsive to a respective magnetic field parallel to the major surfaceof the substrate, wherein the first and third magnetic field sensingelements have respective first and third maximum response axes parallelto each other, directed in opposite directions, and parallel the majorsurface of the substrate, and wherein the second and fourth magneticfield sensing elements have respective second and fourth maximumresponse axes parallel to each other, directed in opposite directions,and parallel the major surface of the substrate, wherein the first andthird major response axes are not parallel to the second and fourthmajor response axes.

The method can include one or more of the following:

generating a first difference signal related to a difference between thefirst and third electronic magnetic field signals; or

generating a second difference signal related to a difference betweenthe second and fourth electronic magnetic field signals, wherein thefirst difference signal has an amplitude related to a an x-axisprojection upon the x-y plane and the second difference signal has anamplitude related to a y-axis projection upon the x-y plane.

In accordance with an example useful for understanding another aspect ofthe present disclosure, a magnetic field sensor can include anelectronic circuit. The electronic circuit can include one or more ofthe following:

a substrate having a major surface disposed in an x-y plane;

a plurality of magnetic field sensing elements disposed upon the majorsurface of the substrate and configured to generate a respectiveplurality of electronic magnetic field signals, wherein each electronicmagnetic field signal is responsive to a respective magnetic fieldparallel to the major surface of the substrate, wherein the plurality ofmagnetic field sensing elements have respective maximum response axesdirected in different directions and parallel to the major surface ofthe substrate;

a processor coupled to the plurality of magnetic field sensing elementsand configured to generate a first signal and a second signal, whereinthe first signal has an amplitude related to a an x-axis projection uponthe x-y plane and the second signal has an amplitude related to a y-axisprojection upon the x-y plane; or

a magnet disposed at a fixed relationship and proximate to thesubstrate, wherein the magnet has a north pole and a south pole, a linebetween which is perpendicular to the major surface of the substrate,wherein a magnetic force of the magnet results in a restoring force upona shaft.

In accordance with an example useful for understanding another aspect ofthe present disclosure, a magnetic assembly can include one or more ofthe following:

a first magnet having north and south magnetic poles;

a second magnet having north and south magnetic poles;

a movable shaft fixedly coupled to the second magnet such that movementof the movable shaft results in movement of the second magnet relativeto the first magnet such that a line between centers of the north andsouth magnetic poles of the second magnet is movable relative to a linebetween the north and south magnetic poles of the first magnet, whereinan attraction of the second magnet to the first magnet result in arestoring force upon the shaft; or

a magnetic field sensor disposed between the first and second magnets,wherein the magnetic field sensor comprises an electronic circuit.

The electronic circuit can include one or more of the following.

a substrate having a major surface disposed in an x-y plane, wherein theline between centers of the north and south magnetic poles of the firstmagnet is perpendicular to the x-y plane;

a plurality of magnetic field sensing elements disposed upon the majorsurface of the substrate and configured to generate a respectiveplurality of electronic magnetic field signals, wherein each electronicmagnetic field signal is responsive to a respective magnetic fieldparallel to the major surface of the substrate, wherein the plurality ofmagnetic field sensing elements have respective maximum response axesdirected in different directions and parallel to the major surface ofthe substrate; or

a processor coupled to the plurality of magnetic field sensing elementsand configured to generate a first signal and a second signal, whereinthe first signal has an amplitude related to a an x-axis projection uponthe x-y plane and the second signal has an amplitude related to a y-axisprojection upon the x-y plane.

In accordance with an example useful for understanding another aspect ofthe present disclosure, a method of sensing a position of a magnet caninclude one or more of the following:

providing, upon a substrate, a plurality of magnetic field sensingelements disposed upon the major surface of the substrate and configuredto generate a respective plurality of electronic magnetic field signals,wherein each electronic magnetic field signal is responsive to arespective magnetic field parallel to the major surface of thesubstrate, wherein the plurality of magnetic field sensing elements haverespective maximum response axes directed in different directions andparallel to the major surface of the substrate;

generating a first signal and a second signal, wherein the first signalhas an amplitude related to a an x-axis projection upon the x-y planeand the second signal has an amplitude related to a y-axis projectionupon the x-y plane; or

providing a magnet disposed at a fixed relationship and proximate to thesubstrate, wherein the magnet has a north pole and a south pole, a linebetween which is perpendicular to the major surface of the substrate,wherein a magnetic force of the magnet results in a restoring force upona shaft.

In accordance with an example useful for understanding another aspect ofthe present disclosure, a method of sensing a position of a magnet caninclude one or more of the following:

providing a first magnet having north and south magnetic poles;

providing a second magnet having north and south magnetic poles;

providing a movable shaft fixedly coupled to the second magnet such thatmovement of the movable shaft results in movement of the second magnetrelative to the first magnet such that a line between centers of thenorth and south magnetic poles of the second magnet is movable relativeto a line between the north and south magnetic poles of the firstmagnet, wherein an attraction of the second magnet to the first magnetresult in a restoring force upon the shaft; or

providing a magnetic field sensor disposed between the first and secondmagnets, wherein the magnetic field sensor comprises an electroniccircuit.

The electronic circuit can include one or more of the following:

a substrate having a major surface disposed in an x-y plane, wherein theline between centers of the north and south magnetic poles of the firstmagnet is perpendicular to the x-y plane; or

a plurality of magnetic field sensing elements disposed upon the majorsurface of the substrate and configured to generate a respectiveplurality of electronic magnetic field signals, wherein each electronicmagnetic field signal is responsive to a respective magnetic fieldparallel to the major surface of the substrate, wherein the plurality ofmagnetic field sensing elements have respective maximum response axesdirected in different directions and parallel to the major surface ofthe substrate.

The method can also include: generating a first signal and a secondsignal, wherein the first signal has an amplitude related to an x-axisprojection upon the x-y plane and the second signal has an amplituderelated to a y-axis projection upon the x-y plane.

In one aspect of the concepts described herein, a joystick assemblyaccording to the disclosure for use with a device including a joysticksurface and a first magnet having north and south magnetic polesincludes a second magnet having north and south magnetic poles. Thejoystick assembly also includes a movable elongated shaft having firstand second opposing ends arranged along a major axis of the shaft. Thefirst end of the shaft is coupled to the second magnet such thatmovement of the shaft results in movement of the second magnet relativeto the first magnet. Additionally, the first end of the shaft is coupledto the second magnet such that a line between centers of the north andsouth magnetic poles of the second magnet is movable relative to a linebetween the north and south magnetic poles of the first magnet.Attraction of the second magnet to the first magnet results in arestoring force upon the shaft, and the shaft and the second magnet areremovable from the joystick surface.

The joystick assembly may include one or more of the following featuresindividually or in combination with other features. The movableelongated shaft and the second magnet may be removable upon applicationof a force which is greater than and in a substantially oppositedirection with respect to the attraction of the second magnet to thefirst magnet. The device may include a magnetic field sensor disposedbetween the joystick surface and the second magnet. The magnetic fieldsensor may include a plurality of magnetic field sensing elementssupported by a substrate. The magnetic field sensing elements may beconfigured to generate a respective plurality of magnetic field signalsand to detect a position of the second magnet relative to the firstmagnet.

The joystick assembly may include a handle coupled to the second end ofthe movable elongated shaft. The movable elongated shaft may include afirst elongated shaft and the handle may take the form of a secondelongated shaft having first and second opposing ends arranged along amajor axis of the second elongated shaft. A portion between the firstand second ends of the second elongated shaft may be coupled to thesecond end of the movable elongated shaft. The device may include adevice housing having at least two coupable portions, wherein at leastone of the coupable portions includes the joystick surface. The secondmagnet may be a substantially spherical magnet, and the first end of theshaft may include a cavity in which the second magnet is retained. Thesecond magnet may be removable from the shaft upon application of apredetermined force. The second magnet and the shaft may take the formof a ball and socket type assembly.

The handle may be fixedly coupled to the movable elongated shaft. Themovable elongated shaft and the handle may form a substantially T-shapedassembly in some embodiments. The movable elongated shaft and the handlemay form a substantially L-shaped assembly in other embodiments. Thehandle may be foldable with respect to the movable elongated shaft. Thejoystick assembly may include a hinge coupled between the handle and themovable elongated shaft. The hinge may result in the handle beingpivotable about at least one axis with respect to the movable elongatedshaft. The joystick assembly may include a motion restriction elementconfigured to restrict an excursion of the second magnet with respect tothe joystick surface to a predetermined excursion. The motionrestriction element may be coupled to the moveable elongated shaftproximate to the first end of the shaft. The motion restriction elementmay be further disposed on the joystick surface. The device may be atleast one of a smartphone, a tablet computer, an instrumentationconsole, a video game console, a video game controller, a keyboard, anda laptop computer.

In another aspect of the concepts described herein, a joystick assemblyfor use with a device comprising a first magnet having north and southmagnetic poles includes a second magnet having north and south magneticpoles. The joystick assembly also includes a movable elongated shafthaving first and second opposing ends arranged along a major axis of theshaft. The first end of the shaft is fixedly coupled to the secondmagnet such that movement of the shaft results in movement of the secondmagnet relative to the first magnet. Additionally, the first end of theshaft is fixedly coupled to the second magnet such that a line betweencenters of the north and south magnetic poles of the second magnet ismovable relative to a line between the north and south magnetic poles ofthe first magnet. An attraction of the second magnet to the first magnetresults in a restoring force upon the shaft. The joystick assemblyfurther includes a handle coupled proximate to the second end of themovable elongated shaft, with the handle foldable with respect to theshaft.

The joystick assembly may include one or more of the following featuresindividually or in combination with other features. The moveableelongated shaft may include a recess configured to receive at least aportion of the handle when the handle is folded. The handle may befolded and the portion of the handle may be received in the recess, andthe moveable elongated shaft and the handle may form at least one commonplanar surface. The moveable elongated shaft may include a firstelongated shaft and the handle may take the form of a second elongatedshaft having first and second opposing ends arranged along a major axisof the second elongated shaft. The movable elongated shaft may includeat least an inner tube and an outer tube which is telescopicallyslideable with respect to the inner tube.

The device may include a joystick surface adjacent to the first magnetand the moveable elongated shaft and the second magnet may be removablefrom the joystick surface. The device may include a joystick surfaceadjacent to the first magnet and a magnetic field sensor between thejoystick surface and the second magnet. The magnetic field sensor mayinclude a plurality of magnetic field sensing elements supported by asubstrate. The magnetic field sensing elements may be configured togenerate a respective plurality of magnetic field signals and to detecta position of the second magnet relative to the first magnet. The devicemay be at least one of a smartphone, a tablet computer, aninstrumentation console, a video game console, a video game controller,a keyboard, and a laptop computer.

In yet another aspect of the concepts described herein, a joystickassembly for use with a device including a first magnet having north andsouth magnetic poles includes a substantially spherical trackballincluding a second magnet having north and south magnetic poles. Thetrackball encloses the second magnet such that movement of the trackballresults in movement of the second magnet relative to the first magnetand such that a line between centers of the north and south magneticpoles of the second magnet is movable relative to a line between thenorth and south magnetic poles of the first magnet. An attraction of thesecond magnet to the first magnet results in a restoring force upon thetrackball.

The joystick assembly may include one or more of the following featuresindividually or in combination with other features. The restoring forcemay result in the trackball being restored to a null position. Thedevice may further include a cavity in which the trackball is fixedlyand movably retained. The device may further include a joystick surfaceadjacent to the first magnet and a magnetic field sensor disposedbetween the joystick surface and the second magnet. The magnetic fieldsensor may include a plurality of magnetic field sensing elementssupported by a substrate. The magnetic field sensing elements may beconfigured to generate a respective plurality of magnetic field signalsand to detect a position of the second magnet relative to the firstmagnet. The device may further include a joystick surface adjacent tothe first magnet, and the trackball may be removable from the joysticksurface. The joystick assembly may further include a lubricant disposedover one or more portions of the trackball. The trackball may include amagnetic material providing the second magnet. The trackball may includean outer shell enclosing the second magnet. The joystick assembly may beprovided in a mobile computing device. The device may be at least one ofa smartphone, a tablet computer, an instrumentation console, a videogame console, a video game controller, a keyboard, and a laptopcomputer.

In yet another aspect of the concepts described herein, a joystickassembly for use with a device comprising a joystick surface and a firstmagnet having north and south magnetic poles includes a second magnethaving north and south magnetic poles. The joystick assembly alsoincludes a movable elongated shaft having first and second opposing endsarranged along a major axis of the shaft. The first end of the shaft iscoupled to the second magnet such that movement of the shaft results inmovement of the second magnet relative to the first magnet.Additionally, the first end of the shaft is fixedly coupled to thesecond magnet such that a line between centers of the north and southmagnetic poles of the second magnet is movable relative to a linebetween the north and south magnetic poles of the first magnet. Anattraction force between the second magnet and the first magnet resultsin a restoring force upon the shaft, and a magnitude of the attractionforce is associated with a joystick classification.

The joystick assembly may include one or more of the following featuresindividually or in combination with other features. The magnitude of theattraction force and the associated joystick classification may be afunction of size and/or a shape of the second magnet. The second magnetmay be substantially spherical and the magnitude of the attraction forceand the associated joystick classification may be a function of adiameter of the second magnet. The magnitude of the attraction force andthe associated joystick classification may be a function of a materialof the second magnet.

The device may further include a magnetic field sensor disposed betweenthe joystick surface and the second magnet. The magnetic field sensormay include a plurality of magnetic field sensing elements supported bya substrate. The magnetic field sensing elements may be configured togenerate a respective plurality of magnetic field signals, to detect aposition of the second magnet relative to the first magnet, and todetect the magnitude of the attraction force and the associated joystickclassification. The joystick classification may include a userclassification. The joystick user classification may be one of anadministrator, a user, an operator, and a manager. The movable elongatedshaft may be removably coupled to the second magnet. The device may beat least one of a smartphone, a tablet computer, an instrumentationconsole, a video game console, a video game controller, a keyboard, anda laptop computer.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing features of the disclosure, as well as the disclosureitself may be more fully understood from the following detaileddescription of the drawings, in which:

FIG. 1 is a side view showing a magnetic assembly having first andsecond magnets and an electronic substrate disposed between the firstand second magnets;

FIG. 2 is a top view of the magnetic assembly of FIG. 1;

FIG. 3 is a side view showing the magnetic assembly of FIG. 1 with achange of position of the second magnet;

FIG. 4 is a top view of the magnetic assembly of FIG. 3;

FIG. 5 is a side view showing yet another magnetic assembly having firstand second magnets and an electronic substrate disposed between thefirst and second magnets;

FIG. 6 is a top view of the magnetic assembly of FIG. 5;

FIG. 7 is a side view showing the magnetic assembly of FIG. 5 with achange of position of the second magnet;

FIG. 8 is a top view of the magnetic assembly of FIG. 7;

FIG. 9 is a side view showing yet another magnetic assembly having firstand second magnets and an electronic substrate disposed between thefirst and second magnets;

FIG. 10 is a top view of the magnetic assembly of FIG. 9;

FIG. 11 is a side view showing the magnetic assembly of FIG. 9 with achange of position of the second magnet;

FIG. 12 is a top view of the magnetic assembly of FIG. 11;

FIG. 13 is a top view of an electronic substrate having four magneticfield sensing elements and an electronic circuit that can be used as oneof the above-mentioned electronic substrates;

FIG. 14 is a graph showing four signals that can be generated by thefour magnetic field sensing elements of FIG. 13;

FIG. 15 is a graph representative of signal that can be generated by theelectronic circuit of FIG. 13;

FIG. 16 is a block diagram showing further details of an example of anelectronic circuit that can be used as the electronic circuit of FIG.13;

FIG. 17 is an exploded view of an example of a magnetic field sensorthat can include the electronic circuit of FIGS. 13 and 16 and the firstmagnet described above to form part of the above-described magneticassemblies;

FIG. 18 is a side view cross section of the magnetic field sensor ofFIG. 17 when assembled;

FIG. 19 is a side view cross section of another magnetic field sensorthat can include the electronic circuit of FIGS. 13 and 16 and the firstmagnet described above to form part of the above-described magneticassemblies;

FIG. 20 is a side view showing yet another magnetic assembly havingfirst and second magnets and an electronic substrate disposed betweenthe first and second magnets;

FIG. 21 is a top view of the magnetic assembly of FIG. 20;

FIG. 22 is a top view of an electronic substrate having two magneticfield sensing elements and an electronic circuit that can be used as oneof the above-mentioned electronic substrates;

FIG. 23 is a top view of an electronic substrate having three magneticfield sensing elements and an electronic circuit that can be used as oneof the above-mentioned electronic substrates;

FIG. 24 is a side view of a first example configuration of a joystickassembly for use with a device comprising a first magnet having northand south magnetic poles according to the disclosure;

FIG. 25 is a side view of an example configuration of the joystickassembly of FIG. 24;

FIG. 26 is a side view of another example configuration of the joystickassembly of FIG. 24;

FIG. 27 is a side view of a second example configuration of a joystickassembly according to the disclosure;

FIG. 28 is a side view of a third example configuration of a joystickassembly according to the disclosure;

FIG. 29 is a side view of a fourth example configuration of a joystickassembly according to the disclosure;

FIG. 30 is a side view of the joystick assembly of FIG. 24 with a changein position;

FIG. 31 is a side view of the joystick assembly of FIG. 26 with a changein position;

FIG. 32 is a side view of another example configuration of a joystickassembly according to the disclosure;

FIG. 33 is a side view of an example configuration of the joystickassembly of FIG. 32;

FIG. 34 is a side view of another example configuration of a joystickassembly according to the disclosure;

FIG. 35 is a side view of a further example configuration of a joystickassembly according to the disclosure;

FIG. 36 is a side view of an example configuration of the joystickassembly of FIG. 35;

FIG. 37 is a side view of another example configuration of a joystickassembly according to the disclosure;

FIG. 38 is a side view of a further example configuration of a joystickassembly according to the disclosure;

FIG. 39 is a side view of another example configuration of a joystickassembly according to the disclosure;

FIG. 40 is a side view of a further example configuration of a joystickassembly according to the disclosure;

FIG. 41 is a side view of another example configuration of a joystickassembly according to the disclosure;

FIG. 42 is a side view of a further example configuration of a joystickassembly according to the disclosure; and

FIG. 43 is a side view of another example configuration of a joystickassembly according to the disclosure.

DETAILED DESCRIPTION

Before describing the present disclosure, it should be noted thatreference is sometimes made herein to magnetic assemblies and joystickassemblies having components (e.g., magnets) with particular shapes(e.g., spherical). One of ordinary skill in the art will appreciate,however, that the techniques described herein are applicable to avariety of sizes and shapes.

For convenience, certain introductory concepts and terms used in thespecification are collected here.

As used herein, the term “magnetic field sensing element” is used todescribe a variety of electronic elements that can sense a magneticfield. The magnetic field sensing element can be, but is not limited to,a Hall effect element, a magnetoresistance element, or amagnetotransistor. As is known, there are different types of Hall effectelements, for example, a planar Hall element, a vertical Hall element,and a Circular Vertical Hall (CVH) element. As is also known, there aredifferent types of magnetoresistance elements, for example, asemiconductor magnetoresistance element such as Indium Antimonide(InSb), a giant magnetoresistance (GMR) element, for example, a spinvalve, an anisotropic magnetoresistance element (AMR), a tunnelingmagnetoresistance (TMR) element, and a magnetic tunnel junction (MTJ).The magnetic field sensing element may be a single element or,alternatively, may include two or more magnetic field sensing elementsarranged in various configurations, e.g., a half bridge or full(Wheatstone) bridge. Depending on the device type and other applicationrequirements, the magnetic field sensing element may be a device made ofa type IV semiconductor material such as Silicon (Si) or Germanium (Ge),or a type III-V semiconductor material like Gallium-Arsenide (GaAs) oran Indium compound, e.g., Indium-Antimonide (InSb).

As is known, some of the above-described magnetic field sensing elementstend to have an axis of maximum sensitivity parallel to a substrate thatsupports the magnetic field sensing element, and others of theabove-described magnetic field sensing elements tend to have an axis ofmaximum sensitivity perpendicular to a substrate that supports themagnetic field sensing element. In particular, planar Hall elements tendto have axes of sensitivity perpendicular to a substrate, while metalbased or metallic magnetoresistance elements (e.g., GMR, TMR, AMR) andvertical Hall elements tend to have axes of sensitivity parallel to asubstrate.

As used herein, the term “magnetic field sensor” is used to describe acircuit that uses a magnetic field sensing element, generally incombination with other circuits. Magnetic field sensors are used in avariety of applications, including, but not limited to, an angle sensorthat senses an angle of a direction of a magnetic field, a currentsensor that senses a magnetic field generated by a current carried by acurrent-carrying conductor, a magnetic switch that senses the proximityof a ferromagnetic object, a rotation detector that senses passingferromagnetic articles, for example, magnetic domains of a ring magnetor a ferromagnetic target (e.g., gear teeth) where the magnetic fieldsensor is used in combination with a back-biased or other magnet, and amagnetic field sensor that senses a magnetic field density of a magneticfield.

While specific reference is made below to magnetic field sensingelements that have maximum response axes that are parallel to a surfaceof an electronic substrate, it should be recognized that other magneticfield sensing elements with magnetic maximum response axes in otherdirections may be used.

As used herein, the term “processor” is used to describe an electroniccircuit that performs a function, an operation, or a sequence ofoperations. The function, operation, or sequence of operations can behard coded into the electronic circuit or soft coded by way ofinstructions held in a memory device. A “processor” can perform thefunction, operation, or sequence of operations using digital values orusing analog signals.

In some embodiments, the “processor” can be embodied in an applicationspecific integrated circuit (ASIC), which can be an analog ASIC or adigital ASIC. In some embodiments, the “processor” can be embodied in amicroprocessor with associated program memory. In some embodiments, the“processor” can be embodied in a discrete electronic circuit, which canbe an analog or digital.

As used herein, the term “module” is used to describe a “processor.”

A processor can contain internal processors or internal modules thatperform portions of the function, operation, or sequence of operationsof the processor. Similarly, a module can contain internal processors orinternal modules that perform portions of the function, operation, orsequence of operations of the module.

While electronic circuits shown in figures herein may be shown in theform of analog blocks or digital blocks, it will be understood that theanalog blocks can be replaced by digital blocks that perform the same orsimilar functions and the digital blocks can be replaced by analogblocks that perform the same or similar functions. Analog-to-digital ordigital-to-analog conversions may not be explicitly shown in thefigures, but should be understood.

As used herein, the term “predetermined,” when referring to a value orsignal, is used to refer to a value or signal that is set, or fixed, inthe factory at the time of manufacture. As used herein, the term“determined,” when referring to a value or signal, is used to refer to avalue or signal that is identified by a circuit during operation, aftermanufacture.

As used herein, the term “active electronic component” is used todescribe and electronic component that has at least one p-n junction. Atransistor, a diode, and a logic gate are examples of active electroniccomponents. In contrast, as used herein, the term “passive electroniccomponent” as used to describe an electronic component that does nothave at least one p-n junction. A capacitor and a resistor are examplesof passive electronic components.

Referring to FIG. 1, an example of a magnetic assembly 100 includes afirst magnet 110, a second magnet 104, and an electronic substrate 108disposed between the first magnet 110 and the second magnet 104. A shaft102 can be rigidly or fixedly coupled to the second magnet 104 so that,if the shaft 102 is moved, the second magnet 104 also experiencesmovement. The second magnet 104 is shown here in a zero or restingposition.

The magnetic assembly 100 will be recognized to have characteristicsrepresentative of a joystick, wherein the shaft 102 is indicative of ashaft that can be moved by a user. However, other applications arepossible other than joysticks, and while joysticks are mentionedexplicitly herein, it will be understood that movement of position ofthe second magnet 104 and other magnets described below can be detectedby electronic circuits described herein, when used in otherapplications, which may or may not have a shaft.

The electronic substrate 108 can include a plurality of magnetic fieldsensing elements, e.g. a magnetic field sensing element 109 a.

The shaft 102 and the second magnet 104 attached thereto, are subject tomovement, which is detected by the magnetic field sensing elements uponthe electronic substrate 108 in ways described more fully below.

The electronic substrate 108 has a major planar surface 108 a. Thisfirst magnet 110 has a north pole 110 a and a south pole 110 b, a linebetween which is substantially perpendicular to the major planar surface108 a of the electronic substrate 108.

The second magnet 104 has a north pole 104 a and a south pole 104 b, aline between which is substantially perpendicular to the major planarsurface 108 a of the electronic substrate 108 when the second magnet 104is at the zero resting position.

The first and second magnets 110, 104, respectively, have a magneticforce therebetween, resulting in a restoring force upon the secondmagnet 104, such that the second magnet 104 will achieve the positionshown when no other force is applied to the second magnet 104.

In this position, it will be appreciated that in a region between thefirst magnet 110 and the second magnet 104, magnetic flux lines passthrough the electronic substrate 108 in a direction substantiallyperpendicular to the major planar surface 108 a of the electronicsubstrate 108.

In some embodiments, the second magnet 104 can be disposed in a cavity106 having a cavity surface 106 a. The cavity surface 106 a can becurved or flat. In some embodiments, the second magnet 104 issubstantially spherical.

In some embodiments, the electronic substrate 108 is part of a magneticfield sensor that includes not only the magnetic field sensing elements,e.g., 109 a, upon the electronic substrate 108, but also otherelectronics, including active and/or passive electronic components. Sometypes of magnetic field sensors are shown in FIGS. 13 and 16-19. In someembodiments, the first magnet 110 forms a part of a magnetic fieldsensor.

The substrate 108 is shown to be larger than the second magnet 104.However, typically, the substrate 108 is smaller than the magnet 104(here and in figures below).

In some embodiments, the second magnet 104 has a spherical shape with adiameter of about 0.25 inches. In some embodiments, the first magnet 110is a solid cylinder with a diameter of about 0.25 inches and a thicknessof about 0.125 inches.

Coordinate axes 112 are used here and in figures below to show a commonreference frame.

Referring now to FIG. 2, in which like elements of FIG. 1 are shownhaving like reference designations, the electronic substrate 108 isshown to have first, second, third, and fourth magnetic field sensingelements 109 a, 109 b, 109 c, 109 d, respectively. In some embodiments,the four magnetic field sensing elements 109 a, 109 b, 109 c, 109 d aredisposed at corners of the square, such that a line between the firstand third magnetic field sensing elements 109 a, 109 c, respectively,and a line between the second and fourth magnetic field sensing elements109 b, 109 d are perpendicular to each other. However, other angles arealso possible.

The first magnetic field sensing element 109 a has a directional maximumresponse axis 116, the second magnetic field sensing element 109 b as adirectional maximum response axis 118, the third magnetic field sensingelement 109 c has a maximum response axis 120, and the fourth magneticfield sensing element 109 d has a directional maximum response axis 122.

In some embodiments, the four directional response axes 116, 118, 120,122 can be parallel to the major planar surface 108 a of the electronicsubstrate 108.

In some embodiments, the directional response axes 116, 120 can beparallel to each other but in opposite directions. Also, the directionalresponse axes 118, 122 can be parallel to each other but in oppositedirections.

In some embodiments, the directional axes 116, 120 can be perpendicularto the directional axes 118, 122. However, other angles are alsopossible. Maximum response axes are not shown in figures below, however,it will be understood that a similar maximum response axes apply to thevarious figures below.

In some embodiments, the arrangement of magnetic field sensing elementsis in a square, e.g., the substrate 108, with sides about 1.14 mm long.However, the substrate 108 can be larger or smaller. The square shape ofthe substrate 108 can be representative of the substrate, or insteadrepresentative of the arrangement of the magnetic field sensing elements109 a, 109 b, 109 c, 109 d, in which case, the substrate can be largerthan the square shape shown.

Coordinate axes 114, shown here and in figures below, show the samereference frame as the coordinate axes 112 of FIG. 1.

Referring to FIG. 3, in which like elements of FIG. 1 are shown havinglike reference designations, the second magnet 104 has been rotated, forexample by a user applying a force upon a shaft 102, and there is arestoring force represented by an arrow. If the user were to release theshaft, the second magnet 104 would return to its position shown above inconjunction with FIG. 1.

It should be recognized that rotation of the second magnet can cause thesecond magnet 104 to move laterally along the surface 106 a of thecavity 106.

Referring now to FIG. 4, in a top view, in which like elements of FIG. 1are shown having like reference designations, it can be seen that thesecond magnet 104 has moved laterally relative to the electronicsubstrate 108 and to the first magnet 110. The first magnet 110 can bestationary relative to the electronic substrate 108.

Lateral movement of the second magnet 104 may not be desirable.

Referring now to FIG. 5, in which like elements of FIG. 1 are shownhaving like reference designations, another magnetic assembly 500 islike the magnetic assembly 100 of FIG. 1, however, a different cavity502 having a different cavity surface 502 a is used.

The cavity 502 allows the second magnet 104 to rotate, but keeps thesecond magnet in place and not able to move laterally.

Referring now to FIG. 6, in a top view, in which like elements of FIG. 1are shown having like reference designations, the second magnet 104 issubstantially centered with the four magnetic field sensing elements.

Referring now to FIG. 7, in which like elements of FIG. 1 are shownhaving like reference designations, the magnetic assembly 500 is shownagain where the second magnet 104 has been rotated, for example, by aforce applied by user upon a shaft 102. A restoring force, describedabove in conjunction with FIG. 3, is represented by an arrow.

Referring now to FIG. 8, in a top view, in which like elements of FIG. 1are shown having like reference designations, even though the secondmagnet 104 is rotated, the second magnet 104 substantially centered withthe four magnetic field sensing elements.

Referring now to FIG. 9, another example of a magnetic assembly 900includes a first magnet 910, a second magnet 904, and an electronicsubstrate 908 disposed between the first magnet 910 and the secondmagnet 904. A shaft 902 is rigidly or fixedly coupled to the secondmagnet 904 so that, if the shaft 902 is moved, the second magnet 904also experiences movement. The second magnet 904 is shown here in a zeroor resting position.

The magnetic assembly 900 will be recognized to have characteristicsrepresentative of a joystick, wherein the shaft 902 is indicative of ashaft that can be moved by a user. However, other applications arepossible other than joysticks, and while joysticks are mentionedexplicitly herein, it will be understood that movement of position ofthe second magnet 904 and other magnets described below can be detectedby electronic circuits described herein, when used in otherapplications.

The electronic substrate 908 can include a plurality of magnetic fieldsensing elements.

The shaft 902, and the second magnet 904 attached thereto, are subjectto movement, which is detected by the magnetic field sensing elementsupon the electronic substrate 908 in ways described more fully below.

The electronic substrate 908 has a major planar surface 908 a. Thisfirst magnet 910 has a north pole 910 a and a south pole 910 b, a linebetween which is substantially perpendicular to the major planar surface908 a of the electronic substrate 908.

The second magnet 904 has a north pole 904 a and a south pole 904 b, aline between which is substantially perpendicular to the major planarsurface 908 a of the electronic substrate 908 when the second magnet 904is at the zero resting position.

The first and second magnets 910, 904, respectively, have a magneticforce therebetween, resulting in a restoring force upon the secondmagnet 904, such that the second magnet 904 will achieve the positionshown when no other force is applied to the second magnet 904.

In this position, it will be appreciated that in a region between thefirst magnet 910 and the second magnet 904, magnetic flux lines passthrough the electronic substrate 908 in a direction substantiallyperpendicular to the major planar surface 908 a of the electronicsubstrate 108.

In some embodiments, the second magnet 904 can be disposed in a cavity906 having a cavity surface 906 a. The cavity surface 908 a can becurved or flat.

In some embodiments, the second magnet 904 is substantially cylindrical,with or without a void center part.

In some embodiments, the electronic substrate 908 is part of a magneticfield sensor that includes not only the magnetic field sensing elements,e.g., 109 a, upon the electronic substrate 108, but also otherelectronics, including active and/or passive electronic components. Sometypes of magnetic field sensors are shown in FIGS. 13 and 16-19. In someembodiments, the first magnet 110 forms a part of a magnetic fieldsensor.

In some embodiments, the arrangement of magnetic field sensing elementsis in a square, e.g., the substrate 908, with sides about 1.14 mm long.However, the substrate 908 can be larger or smaller. The square shape ofthe substrate 908 can be representative of the substrate, or insteadrepresentative of the arrangement of the magnetic field sensingelements, e.g., 909 a, in which case, the substrate can be larger thanthe square shape shown.

In some embodiments, the second magnet 904 has a cylindrical shape witha diameter of about 0.25 inches and a thickness of about 0.125 inches.In some embodiments, the second magnet 904 is an open cylinder with aninternal diameter of about 0.125 inches. In some embodiments, the firstmagnet 910 has a cylindrical shape with a diameter of about 0.25 inchesand a thickness of about 0.125 inches. In some embodiments, the firstmagnet 910 is an open cylinder with an internal diameter of about 0.125inches.

Coordinate axes 112 are the same as coordinate axes 112 in figuresabove.

Referring now to FIG. 10, in which like elements of FIG. 9 are shownhaving like reference designations, the electronic substrate 908 isshown to have four magnetic field sensing elements, e.g., 909 a. Asdescribed above in conjunction with FIG. 2, in some embodiments, thefour magnetic field sensing elements are disposed at corners of thesquare, such that a line between opposite ones of the four magneticfield sensing elements and a line between other opposite ones of thefour magnetic field sensing elements are perpendicular to each other.However, other angles are also possible.

Directional maximum response axes and orientations thereof can be thesame as or similar to those described above in conjunction with FIG. 2.

Coordinate axes 114 are the same as coordinate axes 114 in figuresabove.

Here; the second magnet 904 has a center void, such that the secondmagnet 904 is in the form of a cylindrical ring. In some embodiments,the first magnet 910 is also in the form of a cylindrical ring. However,in other embodiments, either one of, or both of, the magnets can be inthe form of solid cylinders.

Referring to FIG. 11, in which like elements of FIG. 9 are shown havinglike reference designations, the second magnet 904 has been rotated, forexample by a user applying a force upon a shaft 902. A restoring force,described above in conjunction with FIG. 3, is represented by an arrow.If the user were to release the shaft, the second magnet 904 wouldreturn to its position shown above in conjunction with FIG. 9.

It should be recognized that rotation of the second magnet 904 causesthe second magnet to move laterally along the surface 906 a of thecavity 906.

Referring now to FIG. 12, in a top view, in which like elements of FIG.9 are shown having like reference designations, it can be seen that thesecond magnet 904 has moved laterally relative to the electronicsubstrate 908 and relative to the first magnet 910.

Lateral movement of the second magnet 904 may not be desirable. Thefirst magnet 910 can be stationary relative to the electronic substrate908.

Referring now to FIG. 13, an electronic substrate 1300 can be the sameas or similar to the electronic substrates 108, 908 described above.Upon the electronic substrate 1300 can be disposed first, second, third,and fourth magnetic field sensing elements 1302 a, 1302 b, 1302 c, 1302d, respectively.

The first, second, third, and fourth magnetic field sensing elements1302 a, 1302 b, 1302 c, 1302 d are shown in a form more representativeof vertical Hall elements. As is known, a typical vertical Hall elementhas vertical Hall element contacts, e.g., five vertical Hall elementcontacts as shown by small boxes, arranged in a row. In operation, acurrent is passed between some of the contacts, and a differentialvoltage output signal is generated at two of the contacts. A polarity,i.e., a direction of a directional maximum response axis, can beswitched merely by switching the two contacts at which the differentialoutput voltage is generated.

Accordingly, the first, second, third, and fourth magnetic field sensingelements 1302 a, 1302 b, 1302 c, 1302 d have respective first, second,third, and fourth directional maximum response axes 1303 a, 1303 b, 1303c, 1303 d, respectively. The directional maximum response axes 1303 a,1303 b, 1303 c, 1303 d have the same characteristics as the directionmaximum response axes 116, 118, 120, 122 of FIG. 2.

Current spinning or chopping is a known technique used to reduce DCoffset voltage (i.e., residual DC voltage when in the presence of zeromagnetic field) of a Hall element. Current spinning can be used for bothplanar (horizontal) and vertical Hall elements. With current spinning,Hall element contacts that are driven and Hall element contacts at whicha differential output voltage is generated, are changed or switched at achopping rate. For each change of the connections, the Hall elementtends to generate a different offset voltage. When the different DCoutput voltages are taken together, i.e., averaged, the net DC offsetvoltage is greatly reduced.

The first, second, third, and fourth magnetic field sensing elements1302 a, 1302 b, 1302 c, 1302 d can generate a respective first, second,third, and fourth electronic magnetic field signals 1304 a, 1304 b, 1304c, 1304 d, respectively. In some embodiments, the first, second, third,and fourth electronic magnetic field signals 1304 a, 1304 b, 1304 c,1304 d are differential signals, but are here shown as individualconnections.

An electronic circuit 1308 can be coupled to receive the first, second,third, and fourth magnetic field signals 1304 a, 1304 b, 1304 c, 1304 d,respectively. The electronic circuit 1308 can also be configured togenerate one or more drive signals 1306 that can drive the magneticfield sensing elements 1302 a, 1302 b, 1302 c, 1302 d.

Angles (e.g., of the shaft 102 of FIG. 3) projected in the x-y plane arereferred to herein as direction angles. A direction angle can be an xdirection angle relative to the x-axis, or a y direction angle relativethe x-axis. Angles (e.g., of the shaft 102 of FIG. 3) relative to thez-axis are referred to herein as tilt angles.

The electronic circuit 1308 is configured to generate one or more outputsignals, which can include, but which are not limited to, an xdifference signal 1308 a representative of, for example, a projection ofthe shaft 102 of FIG. 3 upon the x-axis of the x-y plane, output ydifference signal 1308 b representative of, for example, a projection ofthe shaft 102 of FIG. 3 upon the y-axis of the x-y plane, an x directionangle signal 1308 c representative of, for example, an angle between aprojection of the shaft 102 of FIG. 3 in the x-y plane and the x-axis, ay direction angle signal 1308 d is representative of, for example, anangle between a projection of the shaft 102 of FIG. 3 the x-y plane andthe y-axis, or a tilt angle signal 1308 e representative of, forexample, a z tilt angle of the shaft 102 of FIG. 3 relative to thez-axis perpendicular to the x-y plane. The electronic circuit 1308 isdescribed more fully below in conjunction with FIG. 16.

In some embodiments, the first, second, third, and fourth magnetic fieldsensing elements 1302 a, 1302 b, 1302 c, 1302 d, respectively, hereshown to be vertical Hall elements, can instead be magnetoresistanceelements. Magnetoresistance elements are not used with current spinningor chopping.

Magnetoresistance elements can be formed in a variety of shapes whenviewed from the top. For example, in some embodiments magnetoresistanceelements can be formed in a bar shape wherein the directional maximumresponse axis is perpendicular to the longest axis of the bar. In otherembodiments, the magnetoresistance elements can be formed in a yokeshape having a longest side and the maximum response axis can beperpendicular to the length of the longest side.

Referring now to FIG. 14, a graph 1400 has a horizontal axis in with ascale in units of degrees. Degrees are indicative of a projected ydirection angle of the shaft 102 of FIG. 3 in the x-y plane relative tothe y-axis as the shaft is moved in a circle about its zero position,i.e., around the z-axis. The graph 1400 also has a vertical axis with ascale in units of a sensed magnetic field in Gauss, as sensed by thefour magnetic field sensing elements of figures herein.

A signal 1402 is representative of an output signal from one of themagnetic field sensing elements most sensitive to magnetic fieldparallel to the y-axis, for example, the magnetic field sensing element109 a of FIG. 2, as the shaft 102 of FIG. 3 is moved in a circle aroundthe z-axis, (i.e., to different direction angles but at a fixed tiltangle). A signal 1404 is representative of an output signal from anopposite one of the magnetic field sensing elements, sensitive tomagnetic field parallel to the y-axis, for example, the magnetic fieldsensing element 109 c of FIG. 2. Signals 1402 and 1404 are one hundredeighty degrees apart.

A signal 1406 is representative of an output signal from one of themagnetic field sensing elements sensitive to magnetic field parallel tothe x-axis, for example, the magnetic field sensing element 109 b ofFIG. 2, as the shaft 102 of FIG. 3 is moved in a circle around thez-axis, (i.e., to different direction angles but at a fixed tilt angle).A signal 1408 is representative of an output signal from an opposite oneof the magnetic field sensing elements sensitive to magnetic fieldparallel to the x-axis, for example, the magnetic field sensing element109 d of FIG. 2. Signals 1406 and 1408 are one hundred eighty degreesapart.

It can be seen that, different ones of the signals 1402, 1404, 1406,1408 achieve positive maximum values at different direction angles,i.e., as the shaft 102 of FIG. 3 points toward different ones of themagnetic field sensing elements 109 a, 109 b, 109 c, 109 d.

It should be appreciated that an absolute amplitude of the signals 1402,1404, 1406, 1408 is dependent upon the tilt angle of the shaft 102relative to the z-axis. The amplitudes can be greater for greater tiltangles relative to the z-axis. However, the phase relationships (andratios of signals for any projected y direction angle) remain the same.

The indicated phase relationships are indicative of four magnetic fieldsensing elements having orthogonal maximum response axes. However, inother embodiments, other relationships between directions of the maximumresponse axes can result in other phase relationships of the signals1402, 1404, 1406, 1408. For example, in conjunction with the arrangementof FIGS. 20 and 21 having three magnetic field sensing elements spacedone hundred twenty degrees apart results in three sinusoids that are onehundred twenty degrees apart in phase.

Circuits described in further detail below can, in some embodiments,take difference measurements between pairs of the signals 1402, 1404,1406, 1408. Values 1402 a, 1404 a, 1406 a, 1408 a are representative ofa thirty degree y direction angle relative to the y-axis, (i.e.,projected angle in the x-y plane relative to the y-axis) and also atwenty degree z tilt angle (i.e., angle over and relative to the x-yplane).

It is desirable that the magnetic field sensing elements describedherein have maximum response axes in the x and y directions. In someembodiments, circuits described in further detail below take differencemeasurements between pairs of the signals 1402, 1404, 1406, 1408, forexample a difference of values 1402 a and 1404 a referred to herein as ay difference signal, and a difference of values 1406 a and 1408 a,referred to herein as an x difference signal. Difference measurementsallow for rejections of effects that may result from the large magneticfields between the first and second magnets that are directed along thez-axis.

As indicated above, it should be understood that, for larger z tiltangles relative to the z-axis, the signals 1402, 1404, 1406, 1408 arelarger, and the y difference signal and x difference are signal alsolarger.

Referring now to FIG. 15, a graph 1500 has a horizontal axis with ascale in arbitrary unit indicative of an x difference signal, forexample, a difference of the signals 1406, 1408 of FIG. 14. The graph1500 also has a vertical axis with a scale in arbitrary units indicativeof a y difference signal, for example, a difference of the signals 1402,1404 of FIG. 14.

An arrow 1506 is representative of a top view looking down on any ofmagnetic assemblies above, for example, looking down at the shaft 102 ofthe figures above. The arrow is representative of a projection upon thex-y plane.

Direction angles θx and θy are shown. A z tilt angle Oz comes out of thepage.

It should be apparent that by knowing a value 1512 of an x differencesignal and a value 1510 of a y difference signal, the direction anglesθx and θy of the arrow 1506 in the x-y plane can be determined, forexample by:

x direction angle=θx=arctan(x/y);  (1)

where:

x=value of the x difference signal, and

y=value of the y difference signal; or by

y direction angle=θy=arctan(y/x).  (2)

It should also be apparent that the length of the arrow 1506 can change,for example, to an arrow 1508, for different z tilt angles of the shaft102 of figures above relative to the z-axis. The different z tilt anglecan result in a different value of the x difference signal and adifferent value of the y difference signal, but the same ratio of thevalues when the pointing angle (in the x-y plane) remains the same.

It should also be apparent that the z tilt angle (relative to thez-axis) can also be computed by knowing the value (e.g., 1512) of the xdifference signal and the value (e.g., 1510) of the y difference signal.For example, the two values can be used to identify a length of theprojected arrow, e.g., 1506, or 1508. In essence, the length of thearrow 1506 or 1508 (a projection upon the x-y plane) is proportional tothe z tilt angle.

In some embodiments, the length of the projected arrow can be computedby:

L=sqrt(x ² +y ²);  (3)

where:

L=length of projected arrow,

x=value of the x difference signal, and

y=value of the y difference signal.

It should be appreciated that the length, L, of the arrow can vary in away that is not only related to tilt angle. For example, if the shaft102 of FIG. 1 does not pivot about a fixed point, another geometricrelationship can be related to the length, L. However, the othergeometric relationship may be known, and thus, it may still be possibleto establish a tilt angle using calibrations described below, incombination with the known geometric relationship.

In some embodiments, in order to identify the z tilt angle from thecomputed length, L, of the arrow (e.g., 1506 or 1508), a calibration isperformed. For example, taking the magnetic assembly of FIGS. 1-4, theshaft 102 can be tilted to a maximum possible tilt angle Oztiltmax,which is limited by mechanical considerations, to a known maximum angle.A maximum length of the projected arrow, Lmax, (projected into the x-yplane), i.e., a maximum diameter of a circle, e.g., 1502, 1504, can becomputed by equation (3) above.

Knowing Lmax, and corresponding maximum tilt angle Otiltmax, then othertilt angle can be identified as follows:

tan(θztiltmax)=Lmax/K;  (4)

where:

θztiltmax=maximum z tilt angle,

Lmax=maximum length of the projection onto the x-y plane, and

K=a constant (equivalent to a constant unprojected length of the arrow).

θz=arctan(L/K)  (5)

where:

θz=z tilt angle

K=constant computed by equation (4), and

L=length of projected arrow computed by equation (3).

In other embodiments, a predetermined value is used for the aboveconstant K, and there is no calibration. Equation 5 can be used tocompute the z tilt angle using the predetermined constant K.

In other embodiments, the value, K, is not constant, but can be measuredat a variety of projected arrows, L, in which case, the z tilt angle,θz, can be interpolated using the variety of K and L values.

In other embodiments, an algorithm can be used to compute K in relationto L.

Referring now to FIG. 16, an electronic circuit 1600 can form a part ofa magnetic field sensor and can be disposed upon the electronicsubstrate 1300. The electronic circuit 1600 can include for magneticfield sensing elements 1604, 1606, 1608, 1610, here shown to havegraphical shapes representative of vertical Hall elements. Fromdiscussion above in conjunction with FIG. 13, physical arrangement andmaximum response axes will be understood. Here, however the fourmagnetic field sensing elements 1604, 1606, 1608, 1610 are shown in aline for clarity of the block diagram.

In some embodiments, the four magnetic field sensing element 1604, 1606,1608, 1610 can be coupled to so-called “dynamic offset cancellation”modules 1612, 1614, 1616, 1618, respectively. The dynamic offsetcancellation modules 1612, 1614, 1616, 1618 perform the above-describedcurrent spinning or chopping.

Output signals from the dynamic offset cancellation module 1612, 1614,1616, 1618 are coupled to first and second differential amplifiers 1620,1626 as shown.

In some alternate embodiments, there are no dynamic offset cancellationmodules, and instead, the differential output signals from the fourvertical Hall elements 1604, 1606, 1608, 6010 coupled directly to firstand second differential amplifier 1620, 1626, respectively.

It is intended that signals associated the four magnetic field sensingelements 1604, 1606, 1608, 1610 couple to proper ones of the first andsecond differential amplifiers 6020, 6028. In essence, referring brieflyto FIG. 13, it is intended that the signals associated with the verticalHall elements 1302 b, 1302 d couple to the first differential amplifier1620, and signals associated with the vertical Hall elements 1302 a,1302 c coupled to the second differential amplifier 1628. Thus, itshould be appreciated that the first differential amplifier 1620 isassociated with an x-axis electronic channel and the second differentialamplifier 1626 is associated with a y-axis electronic channel.

The first differential amplifier 1620 is configured to generate an xdifference signal 1620 a.

An electronic filter 1622 can be coupled to receive the x differencesignal 1620 a and configured to generate a filtered signal 1622 a. Insome embodiments, the tuned filter 1622 is a low pass filter able topass DC signals, but acting to reduce electronic noise.

A gain stage 1624 can be coupled to receive the filtered signal 1622 aand configured to generate an amplified x difference signal 1624 a.

The second differential amplifier 1626 is configured to generate a ydifference signal 1626 a.

An electronic filter 1628 can be coupled to receive they differencesignal 1626 a and configured to generate a filtered signal 1628 a. Insome embodiments, the tuned filter 1628 is a low pass filter able topass DC signals, but acting to reduce electronic noise.

A gain stage 1630 can be coupled to receive the filtered signal 1628 aand configured to generate an amplified y difference signal 1630 a.

The electronic circuit 1600 can include a direction angle processor 1634coupled to receive the x difference signal 1624 a and coupled to receivethe y difference signal 1630 a. By use of equations one and two above,the direction angle processor 1634 is configured to generate at leastone of an x direction angle signal 1634 a or a y direction angle signal1634 b.

The electronic circuit can include a tilt angle processor 1634 coupledto receive the x difference signal 1624 a and coupled to receive the ydifference signal 1630 a. By use of equations three, four, and fiveabove, the tilt angle processor 1634 is configured to generate a z tiltangle signal 1636 a.

In some embodiments, the direction angle processor 1634 and/or the tiltangle processor 1636 are analog processors. However, in otherembodiments, the direction angle processor 1634 and/or the tilt angleprocessor 1636 are digital processors. For these digital embodiments,analog-to digital converters (DACS) (not shown) are disposed between thegain stages 1624, 1628 and the processors 1634, 1636.

In other embodiments, analog to digital conversions are made earlier,for example, prior to the tuned filters 1622, 1628, and the tunedfilters 1622, 1628 are digital filters, and circuits that follow aredigital circuits.

In some alternate embodiments, the electronic circuit 1600 does notinclude the tilt angle processor 1636. In some other alternateembodiments, the electronic circuit 1600 does not include the directionangle processor 1634. In some other alternate embodiments, theelectronic circuit 1600 does not include the direction angle processor1634 or the tilt angle processor 1636.

In some embodiments, the x difference signal 1624 a and the y differencesignal 1630 a are provided to other circuits that are not a part of theelectronic circuit 1600.

It should be understood that the x difference signal 1624 a and the ydifference signal 1630 a provide an ability to reject common moderesponses of individual magnetic field sensing elements used in thedifference signals that may respond in-part to z-components of magneticfields between the first and second magnets of FIGS. 1-12. Othercircuits described below have two magnetic field sensing elements orthree magnetic field sensing elements.

In some embodiments, the electronic circuit 1600 can include an outputformat processor 1636 coupled to receive one or more of the signals 1624a, 1630 a, 1634 a, 1634 b, 1636 a and configured to generate a serial orparallel output signal 1638 a having information related to the one ormore of the received signals. Example formats of the signal 1638 ainclude, but are not limited to, a SENT format, and SPI format, and I²Cformat, and a serial format.

In some embodiments, the electronic circuit 1600 can include acalibration memory 1640 configured to store and provide calibrationvalues 1640 a, for example, according to the calibration described abovein conjunction with FIG. 15.

While two parallel channels are shown in the electronic circuit 1600,other arrangements are also possible. For example, in one alternateembodiment samples from the four magnetic field sensing elements 1604,1606 1608, 1610 are taken sequentially in a time division multiplexed(TDM) arrangement. The samples can be digitized, filtered, amplified,and sent to the common processor for processing equivalent to processingdescribed above in conjunction with equations one through five.

Referring briefly to equations (1) and (2) above, it should berecognized that the x difference signal 1620 a and the y differencesignal 1620 b are relatively independent from each other with movementor rotation of the second magnet, e.g., 104 of FIG. 1, due to theirdifferential nature. Namely, a rotation or movement of the second magnet(e.g., 104 of FIG. 1) in the x direction, results in a change of the xdifference signal 1620 a, but results in little or no change of the ydifference signal 1626 a, and vice versa. Being independent, equations(1) and (2) can generate particularly accurate x direction angles and ydirection angels. however, the calibration values 1640 a can alsoprovide further calibration related to equations (1) and (2).

Referring now to FIG. 17, a magnetic field sensor 1700 can include anintegrated circuit 1706, which, for example, can be a packaged versionof the electronic circuit 1600 of FIG. 16.

The magnetic field sensor 1700 can include a housing 1702 having acavity 1704.

The magnetic field sensor 1700 can include a spacer, for example, aninsulating spacer 1710.

The magnetic field sensor 1700 can include a magnet 1712, which can bethe same as or similar to the magnets 110, 910 described in figuresabove.

The magnetic field sensor 1700 can also include a ceiling member 1714.

While the magnetic field sensor 1700 is shown in exploded form, themagnetic field sensor 1700 is shown and assembled form in FIG. 18 below.

Referring now to FIG. 18, in which like elements of FIG. 17 are shownhaving like reference designations, a magnetic field sensor 1800 is thesame as or similar to the magnetic field sensor 1700 of FIG. 17, but ishere shown and assembled form.

The integrated circuit 1706 can include an electronic substrate 1802disposed over a base plate 1804 of a lead frame. The integrated circuit1706 can include a molding, for example, a plastic molding 1806.

It will be appreciated that the above described second magnets, e.g.,104, 904 and associated cavities 106, 502, 906 can be disposed over themagnetic field sensor 1800.

It will be apparent that, the arrangement of the magnetic field sensor1800 includes the magnet 1712. However, in other embodiments themagnetic field sensor only includes the integrated circuit 1706.

Referring now to FIG. 19, in which like elements of FIG. 17 are shownhaving like reference designations, another magnetic field sensor 1900can include an electronic substrate 1802 disposed over a base plate1804. Here, however, instead of the plastic molding 1806 of FIG. 18, themagnetic field sensor 1900 includes but one molded structure 1902surrounding electronic circuit substrate 1802, the base plate 1804, theinsulating spacer 1710, and the magnet 1712.

It will be appreciated that the above described second magnets, e.g.,104, 904 and associated cavities 106, 502, 906 can be disposed over themagnetic field sensor 1900.

In some alternate embodiments, the magnetic field sensor 1900 does notinclude the magnet 1712.

Referring now to FIG. 20, in which like elements of FIG. 1 are shownhaving like reference designators, a magnetic assembly 2000 is like themagnetic assembly 100 of FIG. 1, but the magnetic assembly 2000 has adifferent substrate 2002 with a surface 2002 a, and with a differentquantity of magnetic field sensing elements, e.g. 2004 a, shown indescribed in more detail below in conjunction with FIG. 21. Anattractive force of first and second magnets 110, 104 results in arestoring force upon the second magnet 104, and therefore, upon theshaft 102

Referring now to FIG. 21, in which like elements of FIG. 20 are shownhaving like reference designations, the substrate 2002 can have aplurality of magnetic field sensing elements, e.g., three magnetic fieldsensing elements 2004 a, 2004 b, 2004 c. The three magnetic fieldsensing elements 2004 a, 2004 b, 2004 c can have directional maximumresponse axes 2006, 2008, 2010, each parallel to the surface 2004 a ofthe substrate 2004, but each pointing in a different direction.

In some embodiments, signals generated by the three magnetic fieldsensing elements 2004 a, 2004 b, 2004 c are amplified, digitized, andprovided as inputs to a processor. The processor can be configured togenerate at least an x signal and a y signal. The x signal can berepresentative of, for example, a projected x-axis value indicative of aprojection of the shaft 102 upon the x-axis of the x-y plane. The ysignal can be representative of, for example, a projected y-axis valueindicative of a projection of the shaft 102 upon the y-axis of the x-yplane.

To generate the x signal and the y signal, the above described processorcan use equations different than equations 1 and 2 above. In someembodiments, the processor can use equations the same as or similar toequations described in U.S. patent application Ser. No. 13/960,910,filed Aug. 7, 2013, and entitled “Systems and Methods for Computing aPosition of a Magnetic Target,” which is assigned to the assignee of thepresent disclosure, and which is incorporated by reference herein in itsentirety. These equations are described below.

In some embodiments, the above described processor can also useequations the same as or similar to equations 3, 4, and/or 5 describedabove to compute direction angles and/or a tilt angle. Discussion ofcalibration above also applies to the magnetic assembly 2000.

Referring now to FIG. 22, an electronic substrate 2200 can be the sameas or similar to the electronic substrates 108, 908 described above.However, unlike the substrates 108, 908, which can include four magneticfield sensing elements, upon the electronic substrate 2200 can bedisposed two magnetic field sensing elements, for example, first andsecond magnetic field sensing elements 2216 a, 2216 b, respectively.

The first and second magnetic field sensing elements 2216 a, 2216 b areshown in a form representative of vertical Hall elements. Vertical hallelements are described above.

Accordingly, the first and second magnetic field sensing elements 2216a, 2216 b have respective first and second directional maximum responseaxes 2218 a, 2218 b respectively. The directional maximum response axes2218 a, 2218 b have the same characteristics as the maximum responseaxes 116, 118 of FIG. 2.

Current spinning or chopping can be used with the magnetic field sensingelements 2216 a, 2216 b as described above in conjunction with FIG. 13.

The first magnetic field sensing elements 2216 a can generate a firstelectronic magnetic field signal 2214 a, which is responsive to magneticfields in the y direction, and second magnetic field sensing elements2216 b can generate a second electronic magnetic field signal 2214 b,which is responsive to magnetic fields in the x direction.

The first and second electronic magnetic field signals 2214 a, 2214 bcan be differential signals, each generated by a respective individualmagnetic field sensing element, but are here shown as individualconnections.

An electronic circuit 2202 can include first and second amplifiers 2204,2206 coupled to receive the first and second magnetic field signals 2214a, 2214 b, respectively and configured to generate first and secondrespective amplified signals 2204 a, 2206 a, respectively.

Optionally, the electronic circuit 2200 can include an x-y processor2226 coupled to receive the first and second amplified signals 2204 a,2206 a, configured to apply a calibration, and configured to generate anx signal 2202 a and a y signal 2202 b, respectively. This calibration isdescribed more fully below. In other arrangements, the first and secondamplified signals 2204 a, 2206 can essentially bypass the x-y processor2226.

The electronic circuit 2202 can also be configured to generate one ormore drive signals 2212 that can drive the magnetic field sensingelements 2216 a, 2216 b.

It will be apparent that, having the two magnetic field signals 2214 a,2214 b, there need not be a difference of signals, e.g., viadifferential amplifiers 1620, 1626 of FIG. 16 that would be used forfour magnetic field signals. Instead, the x signal 2202 a and the ysignal 2202 b can be indicative of responses from individual ones of thefirst and second magnetic field sensing elements 2218 a, 2218 b,respectively.

With non-differencing arrangements, unlike the differencing of signalsof the magnetic field sensor 1600 of FIG. 16, the electronic magneticfield signals 2214 a, 2214 b are not necessarily fully independent. Inother words, a movement of the shaft 102 of FIGS. 1 and 2 in the ydirection might result not only result in a desired change of theelectronic magnetic field single 2214 a responsive to the y direction,but also in some undesirable change of the electronic magnetic fieldsignal 2214 b in the x direction. However, even with the above describedarrangement that bypasses the x-y processor, still the x signal 2202 aand the y signal 2202 b might be sufficiently independent to result insufficiently accurate signals among an x direction angle value 2202 c, ay direction value 2202 d, and a z tilt angle value 2202 e describedbelow.

As described above, angles (e.g., of the shaft 102 of FIG. 3) projectedin the x-y plane are referred to herein as direction angles. A directionangle can be an x direction angle relative to the x-axis, or a ydirection angle relative the x-axis. Angles (e.g., of the shaft 102 ofFIG. 3) relative to the z-axis are referred to herein as tilt angles.

The electronic circuit 2202 is configured to generate one or more outputsignals, which can include, but which are not limited to, the x signal2202 a (a non-difference signal) representative of, for example, aprojection of the shaft 102 of FIG. 3 upon the x-axis of the x-y plane,the y signal 2202 b (a non-difference signal) representative of, forexample, a projection of the shaft 102 of FIG. 3 upon the y-axis of thex-y plane, the x direction angle signal 2202 c representative of, forexample, a projection of the shaft 102 of FIG. 3 in the x-y plane andrelative to the x-axis, the y direction angle signal 2202 drepresentative of, for example, a projection of the shaft 102 of FIG. 3projected in the x-y plane and relative to the y-axis, or the z tiltangle 2202 e representative of, for example, a z tilt angle of the shaft102 of FIG. 3 relative to the z-axis perpendicular to the x-y plane.

In some embodiments, the first and second magnetic field sensingelements 2216 a, 2216 b, respectively, here shown to be vertical Hallelements, can instead be magnetoresistance elements. Magnetoresistanceelements are not used with current spinning or chopping.

In operation, referring briefly to FIG. 14, values of the signal 1402can be representative of the magnetic field signal 2214 a as an end ofthe shaft 102 of FIG. 3 is moved around a circle. Similarly, values ofthe signal 1404 of FIG. 14 can be representative of the magnetic fieldsignal 2214 b as an end of the shaft 102 of FIG. 3 is moved around acircle. Thus, compared to the four sinusoids of FIG. 14, for thearrangement of FIG. 22, there can be only two sinusoids.

Referring briefly to equations 1-5 above, similar computations for the xdirection angle, the y direction angle, the z tilt angle, and for allcomputations of equations 1-5 can be used with the magnetic field sensor2200 of FIG. 22, but, in equation (1) and (2) using the x and y signals2202 a, 2202 b, respectively, rather than the x difference signal and ydifference signal described above in conjunction with FIG. 13.

In some embodiments, the electronic circuit 2202 can include acalibration memory 2220 to store and provide calibration values 2220 athat can be used with the x-y processor 2226 to enhance independence ofthe x signal 2202 a and the y signal 2202 b.

In some embodiments, the calibration memory 2220 is also configured tostore and provide the calibration values 2220 a, for example, accordingto the calibration described above in conjunction with FIG. 15.

In some embodiments, the electronic circuit 2202 can include an outputformat processor 2222 the same as or similar to the output formatprocessor 1638 of FIG. 16.

Referring now to FIG. 23, an electronic substrate 2300 can be the sameas or similar to the electronic substrates 108, 908 described above.However, unlike the substrates 108, 908, which can include four magneticfield sensing elements, upon the electronic substrate 2300 can bedisposed three magnetic field sensing elements, for example, first,second, and third magnetic field sensing elements 2318 a, 2318 b, 2318c, respectively. The first, second, and third magnetic field sensingelements 2318 a, 2318 b, 2318 c can be the same as or similar to thethree magnetic field sensing elements 2006, 2008, 2010 of FIGS. 20 and21.

Accordingly, the first, second, and third magnetic field sensingelements 2318 a, 2318 b, 2318 c have respective first, second, and thirddirectional maximum response axes 2314 a, 2314 b, 2314 c, respectively.The directional maximum response axes 2314 a, 2314 b, 2314 c have thesame characteristics as the direction maximum response axes 2006, 2008,2010 of FIG. 21.

Current spinning or chopping can be used with the magnetic field sensingelements 2318 a, 2318 b, 2318 c as described above in conjunction withFIG. 13.

The first, second, and third magnetic field sensing elements 2318 a,2318 b, 2318 c can generate a respective first, second and thirdelectronic magnetic field signals 2316 a, 2316 b, 2316 c, respectively.In some embodiments, the first, second, and third electronic magneticfield signals 2316 a, 2316 b, 2316 c are differential signals asprovided by individual ones of the magnetic field sensing element 2318a, 2318 b, 2318 c, but are here shown as individual connections.

An electronic circuit 2302 can include first, second, and thirdamplifiers 2304, 2306, 2308 coupled to receive the first, second, andthird magnetic field signals 2316 a, 2316 b, 2316 c, respectively andconfigured to generate first, second, and third amplified signals 2304a, 2306 a, 2308 a, respectively.

Optionally, the electronic circuit 2200 can include an x-y processor2309 coupled to receive the first, second, and third amplified signals2304 a, 2306 a, 2308 a configured to apply a calibration, and configuredto generate an x signal 2302 a and a y signal 2302 b, respectively. Thiscalibration is described more fully below.

The electronic circuit 2302 can also be configured to generate one ormore drive signals 2314 that can drive the magnetic field sensingelements 2318 a, 2318 b, 2318 c.

It will be apparent that, having the three magnetic field signals 2318a, 2318 b, 2318 c, there need not be a difference of signals, e.g., viadifferential amplifiers 1620, 1626 of FIG. 16 that would be used forfour magnetic field signals. Instead, the x signal 2302 a and the ysignal 2302 b can be indicative of responses from combined ones of thefirst, second, and third magnetic field sensing elements 2318 a, 2318 b,2318 c, respectively, the combination being other than a differencing ofpairs of signals.

As described above, angles (e.g., of the shaft 102 of FIG. 3) projectedin the x-y plane are referred to herein as direction angles. A directionangle can be an x direction angle relative to the x-axis, or a ydirection angle relative the x-axis. Angles (e.g., of the shaft 102 ofFIG. 3) relative to the z-axis are referred to herein as tilt angles.

The electronic circuit 2302 is configured to generate one or more outputsignals, which can include, but which are not limited to, an x signal2302 a (a non-difference signal) representative of, for example, aprojection of the shaft 102 of FIG. 3 upon the x-axis of the x-y plane,a y signal 2302 b (a non-difference signal) representative of, forexample, a projection of the shaft 102 of FIG. 3 upon the y-axis of thex-y plane, an x direction angle signal 2302 c representative of, forexample, a projection of the shaft 102 of FIG. 3 in the x-y plane andrelative to the x-axis, a y direction angle signal 2302 d representativeof, for example a projection of the shaft 102 of FIG. 3 in the x-y planeand relative to the y-axis, or a z tilt angle signal 2302 erepresentative of, for example, a z tilt angle of the shaft 102 of FIG.3 relative to the z-axis perpendicular to the x-y plane.

In some embodiments, the first, second, and third magnetic field sensingelements 2318 a, 2318 b, 2318 c, respectively, here shown to be verticalHall elements, can instead be magnetoresistance elements.Magnetoresistance elements are not used with current spinning orchopping.

In some embodiments, the three magnetic field sensing elements 2318 a,2318 b, 2318 c are not disposed in an orthogonal arrangement. In someembodiments, the three magnetic field sensing elements 2318 a, 2318 b,2318 c are arranged one hundred twenty degrees apart.

Referring briefly to the four signals of FIG. 14, it should be apparentthat a similar three sinusoidal signals result from the three magneticfield sensing element 2318 a, 2318 b, 2318 c as the shaft 102 of FIG. 1is moved in a circle, and the three sinusoidal signals can be one undertwenty degrees apart in phase.

Referring briefly to equations 1-5 above, similar computations for the xdirection angle, the y direction angle, the z tilt angle, and for allcomputations of equations 1-5 can be used with the magnetic field sensor2300 of FIG. 23, but, in equation (1) and (2) using the x and y signals2302 a, 2302 b, respectively, rather than the x difference signal and ydifference value signal described above in conjunction with FIG. 13.

In some embodiments, the electronic circuit 2302 can include acalibration memory 2322 to store and provide calibration values 2322 athat can be used with the x-y processor 2309 to enhance independence ofthe x signal 2302 a and the y signal 2302 b.

In some embodiments, the calibration memory 2322 is also configured tostore and provide the calibration values 2322 aa, for example, accordingto the calibration described above in conjunction with FIG. 15.

As described above, the x-y processor 2309 is coupled to receive thethree magnetic field signals 2304 a, 2306 a, 2308 a and configured togenerate the x signal 2302 a and a y signal 2302 b, similar to the xsignal 2202 a and the y signal 2202 b of FIG. 22. To this end, furtherequations are described below, with which the x-y processor 2309 canconvert the three amplified signals 2304 a, 2306 a, 2308 s intoCartesian x and y signals 2302 a, 2302 b.

In some embodiments the x-y processor can compute the x and y signals2302 a, 2302 b using each one of the amplified signals 2304 a, 2306 a,2308 a, essentially averaging the amplified signals together. To thisend, a geometric consideration is provided below

As a geometric consideration and assuming that the second magnet 102 ofFIG. 1 experiences not only rotation but translation of the secondmagnet 102 as would be apparent from the arrangement of FIG. 1, the x-yprocessor 2309 can use the output signals of each magnetic field sensingelements 2318 a, 2318 b, 2318 c to compute an x coordinate position ofthe shaft, and a y position of the shaft, e.g., 102 of FIG. 1. The x-yprocessor 2309 can essentially average output signals from the threemagnetic field sensing elements 2318 a, 2318 b, 2318 c to increaseaccuracy of the computation.

For example, if the magnetic field sensing elements 2318 a, 2318 b, 2318c are placed relative one hundred twenty degree apart as shown, thenequation (6) can be used to compute an x position of the second magnet,e.g., 104:

$\begin{matrix}{X = {F - ( \frac{G + H}{2} )}} & (6)\end{matrix}$

where:

X is an x position (which is related to the x value 2302 a) of thesecond magnet, e.g., 104, in an x direction;

F is a distance between the magnetic field sensing element 2318 a and acenter of the second magnet, e.g., 104;

G is a distance between the magnetic field sensing element 2318 b andthe center of the second magnet, e.g., 104; and

H is a distance between magnetic field sensing element 2318 c and thecenter of the second magnet, e.g., 104.

It should be understood that the distances F, G, and H are related tovalues of the magnetic field signals 2316 a, 2316 b, 2316 c,respectively. Rotation amounts of the second magnet 104 can be used inplace of the above distances.

As described above, the x-y processor 2309 is coupled to receive thethree magnetic field signals 2304 a, 2306 a, 2308 a and configured togenerate the x signal 2302 a and a y signal 2302 b, similar to the xsignal 2202 a and the y signal 2202 b of FIG. 22. To this end, furtherequations are described below, with which the x-y processor 2309 canconvert the three amplified signals 2304 a, 2306 a, 2308 s intoCartesian x and y signals 2302 a, 2302 b.

In some embodiments the x-y processor can compute the x and y signals2302 a, 2302 b using each one of the amplified signals 2304 a, 2306 a,2308 a, essentially averaging the amplified signals together. To thisend, a geometric consideration is provided below

As a geometric consideration and assuming that the second magnet 102 ofFIG. 1 experiences not only rotation but translation of the secondmagnet 102 as would be apparent from the arrangement of FIG. 1, the x-yprocessor 2309 can use the output signals of each magnetic field sensingelements 2318 a, 2318 b, 2318 c to compute an x coordinate position ofthe shaft, and a y position of the shaft, e.g., 102 of FIG. 1. The x-yprocessor 2309 can essentially average output signals from the threemagnetic field sensing elements 2318 a, 2318 b, 2318 c to increaseaccuracy of the computation.

For example, if the magnetic field sensing elements 2318 a, 2318 b, 2318c are placed relative one hundred twenty degree apart as shown, thenequation (6) can be used to compute an x position of the second magnet,e.g., 104:

$\begin{matrix}{X = {F - ( \frac{G + H}{2} )}} & (6)\end{matrix}$

where:

X is an x position (which is related to the x value 2302 a) of thesecond magnet, e.g., 104, in an x direction;

F is a distance between the magnetic field sensing element 2318 a and acenter of the second magnet, e.g., 104;

G is a distance between the magnetic field sensing element 2318 b andthe center of the second magnet, e.g., 104; and

H is a distance between magnetic field sensing element 2318 c and thecenter of the second magnet, e.g., 104.

It should be understood that the distances F, G, and H are related tovalues of the magnetic field signals 2316 a, 2316 b, 2316 c,respectively. Rotation amounts of the second magnet 104 can be used inplace of the above distances.

In another embodiment, equation (7) can be used to compute the Xposition of the second magnet, e.g., 104:

$\begin{matrix}{X = \frac{\begin{matrix}{( {X_{2312\mspace{11mu} a} + D_{2312\mspace{11mu} a}} ) + ( {X_{2312\mspace{11mu} b} - {D_{2312\mspace{11mu} b}{{COS}(60)}}} ) +} \\( {X_{2312\mspace{11mu} c} - {D_{231\mspace{11mu} {ca}}{{COS}(60)}}} )\end{matrix}}{3}} & (7)\end{matrix}$

where:

X is an x position (which is related to the x value 2302 a) of thesecond magnet, e.g., 104, in an x direction;

X_(2318a) is an x projected position in an x-y plane of the magneticfield sensing element 2318 a;

D_(2318a) is a distance between the magnetic field sensing element 2318a and the center of the second magnet, e.g., 104;

X_(2318b) is an x projected position in the x-y plane of the magneticfield sensing element 2318 b;

D_(2318b) is the distance between the magnetic field sensing element2318 b and the center of the second magnet, e.g., 104;

X_(1312c) is an x projected position in the x-y plane of the magneticfield sensing element 2318 c; and

D_(2318c) is the distance between the magnetic field sensing element2318 c and the center of the second magnet, e.g., 104.

In another embodiment, equation (7) can be used to compute the Xposition of the second magnet, e.g., 104:

$\begin{matrix}{X = \frac{\begin{matrix}{( {X_{2312\mspace{11mu} a} + D_{2312\mspace{11mu} a}} ) + ( {X_{2312\mspace{11mu} b} - {D_{2312\mspace{11mu} b}{{COS}(60)}}} ) +} \\( {X_{2312\mspace{11mu} c} - {D_{231\mspace{11mu} {ca}}{{COS}(60)}}} )\end{matrix}}{3}} & (7)\end{matrix}$

where:

X is an x position (which is related to the x value 2302 a) of thesecond magnet, e.g., 104, in an x direction;

X_(2318a) is an x projected position in an x-y plane of the magneticfield sensing element 2318 a;

D_(2318a) is a distance between the magnetic field sensing element 2318a and the center of the second magnet, e.g., 104;

X_(2318b) is an x projected position in the x-y plane of the magneticfield sensing element 2318 b;

D_(2318b) is the distance between the magnetic field sensing element2318 b and the center of the second magnet, e.g., 104;

X_(1312c) is an x projected position in the x-y plane of the magneticfield sensing element 2318 c; and

D_(2318c) is the distance between the magnetic field sensing element2318 c and the center of the second magnet, e.g., 104.

It should be understood that the distances above are related to valuesof the magnetic field signals 2316 a, 2316 b, 2316 c. Rotation amountsof the second magnet 104 can be used in place of the above distances.

Using the same example, equation (8) can be used to compute a Y positionof second magnet, e.g., 104:

$\begin{matrix}{Y = {{{\sin (90)}/{\sin (120)}}*( {\frac{3*G}{2} - \frac{3*H}{2}} )}} & (8)\end{matrix}$

where:

Y is a y position (which is related to the y value 2302 b) of the secondmagnet, e.g., 104, in a y direction;

G is the distance between the magnetic field sensing element 2318 b andthe center of the second magnet, e.g., 104; and

H is the distance between magnetic field sensing element 2318 c and thecenter of the second magnet, e.g., 104

It should be understood that the distances G and H are related to valuesof the magnetic field signals 2316 b, 2316 c, respectively. Rotationamounts of the second magnet 104 can be used in place of the abovedistances.

In another embodiment, equation (9) can be used to compute the Yposition of magnetic target 102:

$\begin{matrix}{Y = \frac{\begin{matrix}{( {Y_{2312\mspace{11mu} b} + {D_{2312\mspace{11mu} b}{{COS}(30)}}} ) +} \\( {Y_{2312\mspace{11mu} c} - {D_{2312\mspace{11mu} c}{{COS}(30)}}} )\end{matrix}}{2}} & (9)\end{matrix}$

where:

Y is a y position (which is related to the y value 2302 b) of the secondmagnet, e.g., 104, in a y direction;

Y_(2318b) is a y projected position in the x-y plane of the magneticfield sensing element 2318 b;

D_(2318b) is a distance between the magnetic field sensing element 2318b and the center of the second magnet, e.g., 104;

Y_(2318c) is a y projected position in the x-y plane of magnetic fieldsensing element 2318 c; and

D_(2318c) is a distance between magnetic field sensing element 2318 cand the center of the second magnet, e.g., 104.

It should be understood that the distances above are related to valuesof the magnetic field signals 2316 a, 2316 b, 2316 c. Rotation amountsof the second magnet 104 can be used in place of the above distances.

In equation (9), the distance between magnetic field sensing element2318 a and the center of the second magnet, e.g., 104, is not usedbecause the magnetic field sensing element 2318 a is positioned to sensedistance directly along the x axis. Therefore, the distance measured bymagnetic field sensing element 2318 a (and associated y value of thiselement) does not include a y projected position.

These above equations are provided as examples only. The equations abovemay be used, for example, if the magnetic field sensing elements arearranged in 120 degree increments (as shown in FIG. 23). Other equationsmay be used if the sensing elements are placed in other positions. Forexample, the magnetic field sensing elements may be placed at+/−forty-five degrees from a center element, at +/−sixty degrees from acenter element, at +/−ninety degrees from a center element, or any otherplacement. Also, the magnetic field sensing elements 2318 a, 2318 b,2318 c need not be placed in regular spacing. For example, there can beany angle A between the magnetic field sensing element 2318 a and themagnetic field sensing element 2318 b and there can be any angle Bbetween the magnetic field sensing 2318 a and the magnetic field sensingelements 2318 c. The angles A and B need not be the same angle.

Depending on the arrangement of the magnetic field sensing elements, theangles between them, different formulas may be used to compute the aboveX and Y positions.

It will also be apparent that, if the second magnet 102 of FIG. 1 isarranged to rotate without translation, other equations can be used todetermine the X and Y positions. In some embodiments, the equations usedto compute the X and Y positions may be adjusted to alter sensitivity,accuracy, timing, or other parameters related to the position of secondmagnet 104.

As described above, where the second magnet 104 of FIG. 1 experiencestranslation of the second magnet 104, sensing the x and y position ofsecond magnet 104 provides the x signal 2302 a and the y signal 2302 b,resulting in computation of the z tilt angle signal 2302 e, the xdirection angle signal 2302 c, and the y direction angle signal 2302 dusing equations described above.

Referring to FIGS. 24-29, in which like elements of FIG. 1 are shownhaving like reference designations, example joystick assemblies (e.g.,2400, shown in FIG. 24) as may be suitable for use with a device (e.g.,a smartphone, tablet computer, instrumentation console, video gameconsole, video game controller, keyboard, laptop computer, or othercomputing device) including at least a first magnet (e.g., 110, shown inFIG. 24) having north and south magnetic poles according to thedisclosure are shown. The joystick assemblies may, for example, be usedas a positional input device and be used in connection with one or moreportions of the magnetic assemblies described in figures above (e.g.,100, shown in FIG. 1), for which magnets used in the magnetic assembliesprovide a restoring force, and for which movement of one of the magnetsused in the magnetic assemblies is sensed by electronic circuits toprovide one or more output signals representative of one or more anglesassociated with the magnets. The joystick assemblies may also be used inconnection with other magnetic assemblies.

It should be appreciated that the example joystick assemblies of FIGS.24-29 described below are but several of many potential configurationsof joystick assemblies in accordance with the disclosure. For example,while joystick assemblies including a substantially spherical secondmagnet (e.g., 2402, shown in FIG. 24) are shown in FIGS. 24-29, itshould be appreciated that the second magnet may take the form of avariety of different shapes (e.g., depending on the application).Additionally, while several of the joystick assemblies are described asremovable from the devices (e.g., 2408, shown in FIG. 24) with whichthey are used, it should be appreciated that the joystick assemblies mayalso be integrated into and substantially fixed to the devices, such asmobile phones, in some embodiments.

Referring to FIG. 24, a first example joystick assembly 2400 accordingto the disclosure for use with a device 2408 including a first examplejoystick surface 2410 and a first magnet 110 is shown to include asecond magnet 2402, a moveable elongated shaft 2404 and a handle 2406.The second magnet 2402, which is a substantially spherical magnet in theillustrated embodiment, has a first portion 2402 a proximate to thejoystick surface 2410 and to a first surface 111 a of the first magnet110. The second magnet 2402 also has a second portion 2402 b distal fromthe joystick surface 2410 and the first surface 111 a of the firstmagnet 110.

The first portion 2402 a of the second magnet 2402 corresponds to asouth magnetic pole S of the second magnet 2402, and the second portion2402 b of the second magnet 2402 corresponds to a north magnetic pole Nof the second magnet 2402 in the illustrated embodiment. Additionally,the first portion 110 a of the first magnet 110 corresponds to a northmagnetic pole N of the first magnet 110, and a second, opposing portion110 b of the first magnet 110 corresponds to a south magnet pole S ofthe first magnet 110 in the illustrated embodiment. However, in otherembodiments, the first portion 2402 a of the second magnet 2402 maycorrespond to a north magnetic pole N of the second magnet 2402 and thefirst portion 110 a of the first magnet 110 may correspond to a southmagnetic pole S of the first magnet 110. Additionally, the secondportion 2402 b of the second magnet 2402 may correspond to a southmagnetic pole S of the second magnet 2402 and the second portion 110 bof the first magnet 110 may correspond to a north magnetic pole N of thefirst magnet 110.

The first portion 2402 a of the second magnet 2402 may be attracted tothe first surface 111 a of the first magnet 110 and may be positioned incontact with the joystick surface 2410. The joystick surface 2410, whichmay be a substantially curved surface or a substantially flat surface,corresponds to a surface on the device 2408 which is suitable for usewith the joystick assembly 2400 (e.g., for receiving positioning inputdata). As one example, the joystick surface 2410 may correspond to aselect surface on a front or rear face of the device 2408. For example,the joystick surface 2410 may correspond to a surface on or proximate toa so-called “home button” or another button on a device face. As anotherexample, the joystick surface 2410 may correspond to a surface on aselect portion of a screen (e.g., a touch screen) of the device 2408. Asa further example, the joystick surface 2410 may correspond to a surfaceon a keyboard (e.g., a surface between keys on a keyboard) or a laptopcomputer, where the device 2408 corresponds to the keyboard or laptopcomputer. For example, the joystick surface 2410 may correspond to asurface on the keyboard or laptop computer which is traditionallyreserved for so-called a “pointing stick” or isometric joystick, withthe joystick assembly 2400 (and joystick assemblies of figures below)capable of integrating with and/or replacing the “pointing stick.” Itshould be appreciated that the joystick surface 2410 may correspond tosubstantially any surface on or proximate to the device 2408 which issuitable or may be adapted to be suitable for use with the joystickassembly 2400.

The moveable elongated shaft 2404, which may take the form of acylindrical rod, for example, and be indicative of a shaft that can bemoved by a user, has first and second opposing ends 2404 a, 2404 barranged along a major axis 2405 of the shaft 2404. The first end 2404 aof the shaft 2404 is fixedly coupled to (e.g., threaded, clamped,adhered, glued, epoxied, or molded onto) the second magnet 2402 suchthat movement of the shaft 2404 results in movement of the second magnet2402 relative to the first magnet 110. Additionally, the first end 2404a of the shaft 2404 is fixedly coupled to the second magnet 2402 suchthat a line B between centers of the north and south magnetic poles ofthe second magnet 2402 is moveable relative to a line A between thenorth and south magnetic poles of the first magnet 110. In other words,the shaft 2404 is fixedly coupled to the second magnet 2402 such that,if the shaft 2404 is moved relative to the first magnet 110, the secondmagnet 2402 also experiences movement relative to the first magnet 110.

The shaft 2404 and the second magnet 2402 are shown in a null or restingposition in FIG. 24. In particular, an attraction of the second magnet2402 to the first magnet 110 results in a restoring force upon the shaft2404, with the restoring force allowing for the shaft 2404 to achievethe null position as shown when substantially no other force is appliedto the shaft 2404. It should be appreciated that the shaft 2404 and thesecond magnet 2402 may be positioned at a plurality of differentpositions relative to the first magnet 110 upon application of a forceto the shaft 2404, one such position being shown and described below inconnection with FIGS. 30 and 31, for example.

The shaft 2404 and the second magnet 2402 may be removable from thejoystick surface 2410, as described more fully below in conjunction withFIGS. 32-34, for example. However, let it suffice here to say that, withthe example arrangement of FIG. 24, the shaft 2404 and the second magnet2402 may be removable from the joystick surface 2410 upon application ofa force which is greater than and in a substantially opposite directionwith respect to the attraction of the second magnet 2402 to the firstmagnet 110.

The handle 2406, which may be a plastic or metal handle, for example, iscoupled to (e.g., threaded, clamped, adhered, glued, epoxied, or moldedonto) the second end 2404 b of the shaft 2404. In the illustratedembodiment, the shaft 2404 takes the form of a first elongated shaft2404 and the handle 2406 takes the form of a second elongated shaft 2406having first and second opposing ends 2406 a, 2406 b arranged along amajor axis 2407 of the second elongated shaft 2406. Additionally, aportion 2406 c between the first and second ends 2406 a, 2406 b of thesecond elongated shaft 2406 is coupled to the second end 2404 b of thefirst elongated shaft 2404. The shaft 2404 and the handle 2406 form asubstantially T-shaped assembly in the illustrated embodiment. However,in other embodiments, the shaft 2404 and the handle 2406 may form asubstantially L-shaped assembly, as shown in FIG. 27, for example, orother shaped assemblies (e.g., a V-shaped assembly) depending on a shapeof the shaft 2404 and/or the handle 2406. It should be appreciated thatthe shaft 2404 and the handle 2406 may take the form of a variety ofshapes. For example, while not shown, the handle 2406 may have asubstantially circular or button shape.

In some embodiments, the handle 2406 is fixedly coupled to the shaft2404. In other embodiments, the handle 2406 is removable from the shaft2404. For example, it may be desirable to remove handle 2406 from shaft2404 and replace handle 2406 with another handle (e.g., depending uponthe application). Gaming applications may, for example, be better suitedfor a first handle (e.g., a thumbstick) having first dimensions whileproductivity applications may be better suited for a second handle(e.g., an ergonomic handle) having second dimensions.

In the illustrated embodiment, the device 2408 also includes a magneticfield sensor 2420 disposed between the joystick surface 2410 and thefirst magnet 110. The magnetic field sensor 2420, which may be the sameas or similar to magnetic field sensors described in figures above(e.g., 2300, shown in FIG. 23), includes a plurality of magnetic fieldsensing elements 109 a, 109 b, 109 c (e.g., Hall effect elements)supported by a surface 108 a of substrate 108. The magnetic fieldsensing elements 109 a, 109 b, 109 c, which each have a respectivemaximum response axis, are configured to generate a respective pluralityof magnetic field signals and to detect a position of the second magnet2402 relative to the first magnet 110. Specifically, motion of thesecond magnet 2402 with respect to the first magnet 110 can result invariations of a magnetic field sensed by the sensing elements 109 a, 109b, 109 c and, thus, result in variations of the magnetic field signalsgenerated by the sensing elements 109 a, 109 b, 109 c and the detectedposition of the second magnet 2402 relative to the first magnet 110. Insome embodiments, the first magnet 110 forms part of the magnetic fieldsensor 2420.

Additionally, in some embodiments, the magnetic field signals may bereceived by circuitry (e.g., circuit 1308, shown in FIG. 13) configuredto provide an output signal of the magnetic field sensor 2420 indicativeof the detected position of the second magnet 2402 relative to the firstmagnet 110. The detected position of the second magnet 2402 relative tothe first magnet 110 may, for example, be indicative of one or more of:a projection of the shaft 2404 upon the x-axis of the x-y plane of thejoystick surface 2410 in accordance with coordinate axes 112, aprojection of the shaft 2404 upon the y-axis of the x-y plane, and a ztilt angle of the shaft 2404 relative to the z-axis perpendicular to thex-y plane. Additionally, the detected position, as provided in themagnetic field sensor output signal, may be used as positional inputdata for the device 2408. The device 2408 may, for example, include aprocessor coupled to receive and process the magnetic field sensoroutput signal.

While a magnetic field sensor (e.g., 2420) including a particular numberof sensing elements (e.g., at least sensing elements 109 a, 109 b, and109 c) is shown in FIG. 24 and figures below, it should be appreciatedthat magnetic field sensors including two or more sensing elements canbe used to detect a position of a second magnet (e.g., 2402) relative toa first magnet (e.g., 110).

Referring to FIG. 25, in which like elements of FIG. 24 are shown havinglike reference designations, joystick assembly 2400 is shown with adevice 2508 including a second example joystick surface 2510, firstmagnet 110 and magnetic field sensor 2420. The magnetic field sensor2420 is disposed between the joystick surface 2510 and the first magnet110, and the first portion 2402 a of second magnet 2402 of joystickassembly 2400 is attracted to first surface 111 a of the first magnet110 and disposed in the joystick surface 2510. In the illustratedembodiment, the joystick surface 2510 has a cavity 2510 a in a housing2509 of the device 2508, the device housing 2509 having a first coupableportion 2511 and a second coupable portion 2512 (e.g., a mountingplate).

The second coupable portion 2512 may be configured to couple to thefirst coupable portion 2511 in a variety of different manners. As oneexample, the first coupable portion 2511 may have recesses 2511 a, 2511b configured to receive corresponding projections 2512 a, 2512 b of thesecond coupable portion 2512. When projections 2512 a, 2512 b of thesecond coupable portion 2512 are received in recesses 2511 a, 2511 b ofthe first coupable portion 2511, the second coupable portion 2512 andthe first coupable portion 2511 form at least two common planar surfacesin the illustrated embodiment. In some embodiments, the second coupableportion 2512 may be fixedly coupled to the first coupable portion 2511(e.g., during manufacture of the device housing 2509) so as to fixedlyand movably retain the second magnet 2402 within the cavity 2510 a. Inother embodiments, the second coupable portion 2512 may be removablycoupled to the first coupable portion 2511 so as to allow for insertion,removal and/or replacement of the second magnet 2402.

While device housing 2509 is shown as having at least two planarsurfaces and as taking the form of a substantially rectangular shape inthe illustrated embodiment, it should be appreciated that device housing2509 (and device housings described in figures above and below) can takethe form of a variety of shapes and have one or more curved surfaces(e.g., for ornamental purposes and/or for reducing the volume of thedevice housing 2509). It follows that the first coupable portion 2511and the second coupable portion 2512 of the device housing 2509 may alsohave one or more curved surfaces in some embodiments.

Referring to FIG. 26, joystick assembly 2400 is shown used with a device2608 including a third example joystick surface 2610, first magnet 110and magnetic field sensor 2420. The magnetic field sensor 2420 isdisposed between the joystick surface 2610 and the first magnet 110, andthe first portion 2402 a of second magnet 2402 is attracted to firstsurface 111 a of the first magnet 110 and may be positioned in contactwith the joystick surface 2610. The joystick surface 2610 has a cavity2610 a in a housing 2609 of the device 2608, the housing 2609 providedof a single piece construction in the illustrated embodiment. The cavity2610 a substantially surrounds the second magnet 2402 to fixedly andmovably retain the second magnet 2402 within the cavity 2610 a. In oneembodiment, with the above-described arrangement, the second magnet 2402is able to rotate to a number of different positions with respect to thefirst magnet 110 but is substantially unable to move laterally relativeto the joystick surface 2610.

Referring to FIG. 27, a second example joystick assembly 2700 accordingto the disclosure is shown used with a device 2708 including a fourthexample joystick surface 2710, first magnet 110 and magnetic fieldsensor 2420. The joystick assembly 2700 includes second magnet 2402,movable elongated shaft 2404 and a handle 2706. The shaft 2404 takes theform of a first elongated shaft 2404 and the handle 2706 takes the formof a second elongated shaft 2706 having first and second opposing ends2706 a, 2706 b arranged along a major axis 2707 of the second elongatedshaft 2706 in the illustrated embodiment. The first end 2404 a of theshaft 2404 is fixedly coupled to (e.g., threaded, clamped, adhered,glued, epoxied, or molded onto) the second magnet 2402 and the first end2706 a of the handle 2706 is coupled proximate to second end 2404 b ofthe shaft 2404 to form a substantially L-shaped assembly.

The magnetic field sensor 2420 of the device 2708 is disposed betweenthe joystick surface 2710 and the first magnet 110, and the firstportion 2402 a of the second magnet 2402 is attracted to first surface111 a of the first magnet 110 and may be positioned in contact with thejoystick surface 2710. The joystick surface 2710 has a cavity 2710 a ina housing 2709 of the device 2708, the housing 2709 provided of a singlepiece construction in the illustrated embodiment. The cavity 2710 asubstantially surrounds the second magnet 2402 to fixedly and movablyretain the second magnet 2402 within the cavity 2710 a.

Referring to FIG. 28, in which like elements of FIG. 26 are shown havinglike reference designations, a third example joystick assembly 2800 isshown used with a device 2608 including joystick surface 2610, firstmagnet 110 and magnetic field sensor 2420. The joystick assembly 2800includes second magnet 2402 and movable elongated shaft 2404, but nohandle (e.g., 2406). The first end 2404 a of the shaft 2404 is fixedlycoupled to (e.g., threaded, clamped, adhered, glued, epoxied, or moldedonto) the second magnet 2402, and the first portion 2402 a of secondmagnet 2402 is attracted to first surface 111 a of the first magnet 110and may be positioned in contact with the joystick surface 2610. In someembodiments, a handle or other accessory (e.g., a trigger button) may becoupled proximate to the second end 2404 b of the shaft 2404 to providefurther configurability for the joystick assembly 2800.

Referring to FIG. 29, in which like elements of FIG. 27 are shown havinglike reference designations, a fourth example joystick assembly 2900 isshown used with a device 2708 (e.g., a mobile computing device)including joystick surface 2710, first magnet 110 and magnetic fieldsensor 2420. The joystick assembly 2900 includes a substantiallyspherical trackball 2902, the trackball 2902 having a first portion 2902a proximate to the joystick surface 2710 and to first surface 111 a ofthe first magnet 110 and a second portion 2902 b distal from firstsurface 111 a of the first magnet 110. The joystick surface 2710 of thedevice 2708, which has a cavity 2710 a, as discussed above,substantially surrounds the trackball 2902 such that the trackball 2902is fixedly and movably retained relative to the joystick surface 2710.

Additionally, the trackball 2902 includes a second magnet 2903, thesecond magnet 2903 having a first portion 2903 a proximate to firstportion 2902 a of the trackball 2902 and a second portion 2903 bproximate to second portion 2902 b of the trackball 2902. In oneembodiment, the trackball 2902 includes a magnetic material providingthe second magnet 2903. Additionally, in one embodiment, the trackball2902 includes an outer shell (e.g., a plastic or metal shell) enclosingthe second magnet 2903.

The first portion 2903 a of the second magnet 2903 corresponds to asouth magnetic pole S of the second magnet 2903, and the second portion2903 b of the second magnet 2903 corresponds to a north magnetic pole Nof the second magnet 2903 in the illustrated embodiment. The firstportion 2903 a of the second magnet 2903 is attracted to the firstportion 110 a of the first magnet 110 in the illustrated embodiment.

The trackball 2902 encloses the second magnet 2903 or, more generally isarranged with respect to the second magnet 2903, such that movement ofthe trackball 2903 results in movement of the second magnet 2903relative to the first magnet 110. Additionally, the trackball 2902encloses the second magnet 2903, or is arranged with respect to thesecond magnet 2903, such that a line C between centers of the north andsouth magnetic poles N, S, of the second magnet 2903 is movable relativeto a line A between the north and south magnetic poles N, S of the firstmagnet 110.

The trackball 2902 and the second magnet 2903 are each shown in a nullor resting position in the illustrated embodiment. In particular, anattraction of the second magnet 2903 to the first magnet 110 results ina restoring force upon the second magnet 2903, with the restoring forceallowing for the trackball 2902 and the second magnet 2903 to achievethe null position as shown when substantially no other force is appliedto the trackball 2902. However, it should be appreciated that thetrackball 2902 and the second magnet 2903 may be positioned at aplurality of different positions relative to the first magnet 110 uponapplication of a force to the trackball 2902.

In one embodiment, the restoring force described above exists at eachdifferent position of the second magnet 2903 relative to the firstmagnet 110. The magnetic field sensor 2420 may detect a position of thesecond magnet 2903 and, thus, a position of the trackball 2902, relativeto the first magnet 110. In other words, the magnetic field sensor 2420may detect an actual position of the trackball 2902 relative to thefirst magnet 110, rather than a relative position of the trackball 2902with respect to a previous position of the trackball 2902. Suchconfiguration may, for example, be desirable in applications whereabsolute position information is required or helpful, and/or inapplications having menu based graphical user interfaces.

While the trackball 2902 is described as fixedly and movably retainedrelative to joystick surface 2710 in the illustrated embodiment, itshould be appreciated that in some embodiments the trackball 2902 may beremovable from a joystick surface of a device in which the joystickassembly 2900 and, thus, trackball 2902 are used. For example, if thejoystick assembly 2900 were used with the device 2508 shown in FIG. 25,the trackball 2902 could be removable from joystick surface 2510 uponremoval of the second coupling portion 2512 from the first couplingportion 2511. Removal of the trackball 2902 from the joystick surface2510 may, for example, be desirable for replacing the trackball 2902with a same or similar “new” trackball and/or for lubricating thetrackball 2902.

Referring to FIG. 30, in which like elements of FIG. 24 are shown havinglike reference designations, the second magnet 2402 and the shaft 2404of joystick assembly 2400 are shown moved to a first example positionrelative to the first magnet 110. The second magnet 2402 may, forexample, be moved to the first position in response to a user applying aforce F1 upon at least one of the second magnet 2402, the shaft 2404 andthe handle 2406. If the user were to release the second magnet 2402, theshaft 2404 and/or the handle 2406, the force F1 would cease to exist,and the joystick assembly 2400 would return to its null or restingposition, as shown in FIG. 24, for example, as a result of a restoringforce F2. The restoring force F2 is a result of an attraction of thesecond magnet 2402 to the first magnet 110.

Referring to FIG. 31, in which like elements of FIGS. 26 and 30 areshown having like reference designations, the second magnet 2402 and theshaft 2404 of joystick assembly 2400 are shown moved to a first exampleposition relative to the first magnet 110. Similar to the embodimentshown in FIG. 30, the second magnet 2402 may be moved to the firstposition in response to a user applying a force F1 upon at least one ofthe second magnet 2402, the shaft 2404 and the handle 2406. If the userwere to release the second magnet 2402, the shaft 2404 and/or the handle2406, the joystick assembly 2400 would return to its null or restingposition, as shown in FIG. 26, for example, as a result of a restoringforce F2.

In another example embodiment, the device housing 2609 may be shaped(e.g., comprise an opening) to allow for z-axis displacement of thesecond magnet 2402 relative to joystick surface 2610 (e.g., withincavity 2610 a of joystick surface 2610). In such embodiment, the secondmagnet 2402 may, for example, be moved from a first z-axis positionrelative to the joystick surface 2610 to a second, different z-axisposition relative to the joystick surface 2610 (e.g., for z-axis buttonlike functionality) in response to a user applying a force fromproximate the joystick surface 2610 to distal the joystick surface 2610.If the user were to release the second magnet 2402 (i.e., if the forcewere to no longer be applied), the joystick assembly 2400 would returnto the first z-axis position (e.g., a null or resting position) as aresult of a restoring force. The restoring force is a result of anattraction of the second magnet 2402 to the first magnet 110. It shouldbe appreciated that other arrangements of the joystick assembly 2400 andthe device 2608, including the device housing 2609, are possible.

Referring to FIG. 32, another example joystick assembly 3200 accordingto the disclosure is shown used with a device 3208 including a joysticksurface 3210, a magnetic field sensor 3220, and a first magnet 3230having north and south magnetic poles. The magnetic field sensor 3220,which can be the same as or similar to magnetic field sensor 2420described in figures above, is disposed between the joystick surface3210 and the first magnet 3230 and includes a plurality of magneticfield sensing elements 3221 a, 3221 b, 3221 c (e.g., Hall effectelements).

The joystick assembly 3200 includes a second magnet 3202, a moveableelongated shaft 3204 and a handle 3206. The second magnet 3202, which isa substantially spherical magnet in the illustrated embodiment, hasnorth and south magnetic poles. At least a first portion of the secondmagnet 3203 is attracted to the first magnet 3230 and may be positionedin contact with a corresponding portion of the joystick surface 3210, asshown. Additionally, at least a second portion of the second magnet 3202is received in and fixedly coupled to a cavity 3204 c formed in a firstend 3204 a of the shaft 3204, which shaft 3204 also has a secondopposing end 3204 b arranged along a major axis 3205 of the shaft 3204.The handle 3206 is fixedly coupled to the second end 3204 b of the shaft3204 in the illustrated embodiment.

Referring also to the side view of the joystick assembly 3200 shown inFIG. 33, the movable elongated shaft 3204 and the second magnet 3202 areremovable (i.e., capable of “breaking away”) from the joystick surface3210 upon application of a force F1 which is greater than and in asubstantially opposite direction with respect to the attraction of thesecond magnet 3202 to the first magnet 3230. Additionally, the shaft3204 and the second magnet 3202 are capable of being coupled to thejoystick surface 3210 upon application of a force F2 from a surfacedistal to the joystick surface 3210 to a surface proximate to thejoystick surface 3210.

With the above-described arrangement, the joystick assembly 3200 can becoupled to the joystick surface 3210 and the magnetic field sensor maydetect a position of the second magnet 3202 with respect to the firstmagnet 3230 when the joystick assembly 3200 is in use. Additionally, thejoystick assembly 3200 can be removed from the joystick surface 3210when the joystick assembly 3200 is not in use. The foregoing may, forexample, provide for a plug and play type joystick assembly 3200,allowing for the device 3208 including the joystick surface 3210 toreturn to its original form-factor when the joystick assembly 3200 isnot in use. Additionally, in safety critical applications (e.g.,production environments), such arrangement may also prevent or reducethe possibility of the joystick assembly 3200 “sticking” to a user'sclothing, which is desirable for reasons apparent.

Referring to FIG. 34, in which like elements of FIGS. 32 and 33 areshown having like reference designations, another example joystickassembly 3400 is shown used with the device 3208 of FIGS. 32 and 33, thedevice 3208 including joystick surface 3210, magnetic field sensor 3220,and first magnet 3230.

The joystick assembly 3400 includes second magnet 3202, moveableelongated shaft 3204 and handle 3206. The second magnet 3203 may beattracted to the first magnet 3230 and at least a first portion of thesecond magnet 3203 may be may be positioned in contact with acorresponding portion of the joystick surface 3210, as shown.Additionally, at least a second portion of the second magnet 3202 may bereceived in and removably coupled to the cavity 3204 c formed in a firstend 3204 a of the shaft 3204.

In one example embodiment, the cavity 3204 c may include a third magnet3204 d having north and south magnetic poles and an attraction of thesecond magnet 3202 to the third magnet 3204 d may result in the secondmagnet 3202 being received in and coupled to the cavity 3204 c.Additionally, application of a force which is greater than and in asubstantially opposite direction with respect to the attraction of thethird magnet 3204 d to the second magnet 3202 may result in the secondmagnet 3202 being decoupled or removed from the cavity 3204 c.

In another example embodiment, the second magnet 3202 and the cavity3204 c may form a so-called “ball and socket” type assembly in which thesecond magnet 3202 is provided as a magnetic ball and the cavity 3204 cis provided as a socket in which the magnetic ball is received. In suchembodiment, the cavity 3204 c may have one or more protrusions for“locking” the second magnet 3202 in place and a release mechanism forreleasing the second magnet 3202 from the cavity 3204 c. The releasemechanism may, for example, move the protrusions from proximate an innersurface of the cavity 3204 c to proximate an outer surface of the cavity3204 c, allowing for motion of the second magnet 3202 within the cavity3204 c. For example, the second magnet 3202 may be received in andcoupled to the cavity 3204 c upon application of a force F from distalthe joystick surface 3210 to proximate the joystick surface 3210.Additionally, the second magnet 3202 may be decoupled from the cavity3204 c upon activation of the release mechanism and upon application ofa force which is substantially opposite from the force F from proximatethe joystick surface 3210 to distal the joystick surface 3210.

In some embodiments, the second magnet 3202 is fixedly coupled to thejoystick surface 3210. For example, the second magnet 3202 may besubstantially integrated into the device 3208 and the shaft 3204 may becoupled and decoupled from the second magnet 3202 as desired. In otherembodiments, the second magnet 3202 is removable from the joysticksurface 3210 and provided separate from the device 3208.

The handle 3206, similar to handle 3206 of FIGS. 32 and 33, is fixedlycoupled to the second end 3204 b of the shaft 3204 in the illustratedembodiment.

Referring to FIG. 35, another example joystick assembly 3500 accordingto the disclosure for use with a device (e.g., 3208, shown in FIG. 32)including at least a first magnet (e.g., 3230, shown in FIG. 32)includes a second magnet 3502, a moveable elongated shaft 3504 and ahandle 3506. The second magnet 3502 has north and south magnetic polesand is fixedly coupled to a first end 3504 a of the shaft 3504 (here, afirst elongated shaft), which shaft 3504 also has a second opposing end3504 b arranged along a major axis 3505 of the shaft 3504. Additionally,the handle 3506, which takes the form of a second elongated shaft 3506having first and second opposing ends 3506 a, 3506 b arranged along amajor axis 3507 of the shaft 3506 in the illustrated embodiment, ismovably coupled to the second end 3504 b of the shaft 3504 via a hinge3508. The handle 3706 may also be fixedly coupled to the shaft 3504 toform a substantially T-shaped assembly, e.g., using a first couplingstructure comprising a first coupling portion 3511 a provided on thehandle 3506 and a second coupling portion 3511 b provided on the shaft3504. For example, the first coupling portion 3511 a may have a recessconfigured to receive a corresponding projection of the second couplingportion 3511 b.

Referring also to the side view of the joystick assembly 3500 shown inFIG. 36, the hinge 3508 is coupled between the handle 3506 and the shaft3504, resulting in the handle 3506 being pivotable about at least oneaxis with respect to the shaft 3504, as shown by the arrows in FIGS. 35and 36. The hinge 3508 also makes the handle 3506 foldable with respectto the shaft 3504 (e.g., making it relatively easy to stow away thejoystick assembly 3500). In the illustrated embodiment, the first end3506 a of the handle 3506 may be fixedly coupled to a surface proximateto the second end 3504 b of the shaft 3504, e.g., using a secondcoupling structure which may be the same as or different from the firstcoupling structure described above. As one example, the second couplingstructure may comprise a first coupling portion 3512 a provided on thehandle 3506 and a second coupling portion 3512 a provided on the shaft3504, with the first coupling portion 3512 a having a recess configuredto receive a corresponding projection of the second coupling portion3512 b.

Referring to FIG. 37, in which like elements of FIGS. 35 and 36 areshown having like reference designations, another example joystickassembly 3700 includes second magnet 3502, a moveable elongated shaft3704 and a handle 3706. The second magnet 3502 is fixedly coupled to afirst end 3704 a of the shaft 3704 (here, a first elongated shaft 3706),which shaft 3704 also has a second opposing end 3704 b arranged along amajor axis 3705 of the shaft 3704. Additionally, the handle 3706, whichtakes the form of a second elongated shaft 3706 having first and secondopposing ends 3706 a, 3706 b arranged along a major axis 3707 of theshaft 3706 in the illustrated embodiment, is coupled to the second end3704 b of the shaft 3704 via a hinge 3508. The hinge 3508 is coupledbetween the handle 3706 and the shaft 3704, resulting in the handle 3706being pivotable about at least one axis with respect to the shaft 3704,as shown by the arrow.

In the illustrated embodiment, the shaft 3704 also comprises a recess3714 configured to receive at least a portion of the handle 3706 whenthe handle 3706 is folded. In one embodiment, when the handle 3706 isfolded and the portion of the handle 3706 is received in the recess3714, the shaft 3704 and the handle 3706 form at least one common planarsurface 3715.

Referring to FIG. 38, another example joystick assembly 3800 includessecond magnet 3502, a moveable elongated shaft 3804 and handle 3706. Thesecond magnet 3502 is fixedly coupled to a first end 3804 a of the shaft3804 and the handle 3706 is coupled to a second opposing end 3804 b ofthe shaft 3804 via hinge 3508. In the illustrated embodiment, the hinge3508 is received in and coupled to a cavity 3804 c formed proximate tothe second end 3804 b of the shaft 3804. The hinge 3508 results in thehandle 3706 being pivotable about at least one axis with respect to theshaft 3804.

Referring to FIG. 39, another example joystick assembly 3900 includessecond magnet 3502, a moveable elongated shaft 3904 and handle 3706. Thesecond magnet 3502 is coupled proximate to a first end 3904 a of theshaft 3904 and the handle 3706 is coupled proximate to a second opposingend 3904 b of the shaft 3904 via a hinge 3508. The hinge 3508 is coupledbetween the second end 3904 b of the shaft 3904 and the handle 3706,resulting in the handle 3706 being pivotable about at least one axiswith respect to the shaft 3904.

In the illustrated embodiment, the shaft 3904 also includes an innertube 3914, an outer tube 3934 and an intermediate tube 3924 between theinner tube 3914 and the outer tube 3934. Outer tube 3934 istelescopically slideable with respect to intermediate tube 3924 andintermediate tube 3924 is telescopically slideable with respect to innertube 3914. In the illustrated embodiment, the shaft 3904 may, forexample, extend from a first distance D1 to a second distance D2 whichis greater than the distance D1 by telescopically sliding tubes 3914,3924, 3934. As one example, it may be desirable to extend the shaft 3904from distance D1 to distance D2, or a distance between distance D1 anddistance D2, depending upon the device or application in which thejoystick assembly 3900 is being used. As another example, the joystickassembly 3900 may be provided as a multi-purpose joystick assembly 3900,with the joystick assembly 3900 capable of being additionally used as astylus or a pointing device in connection with the device in which thejoystick assembly 3900 is used, or otherwise. In such embodiment, it maybe desirable to extend the shaft 3904 depending upon a particular use ofthe joystick assembly 3900.

Referring to FIG. 40, in which like elements of FIG. 24 are shown havinglike reference designations, another example joystick assembly 4000according to further embodiment of the disclosure is shown used with adevice 4008 including a joystick surface 4010, magnetic field sensor2420, and first magnet 110. The magnetic field sensor 2420 is disposedbetween the joystick surface 4010 and the first magnet 110.

The joystick assembly 4000 includes a second magnet 4002, movableelongated shaft 2404 and a handle 2406. The second magnet 4002, whichcan be the same as or similar to second magnet 2402 described above inconnection with FIG. 24, has a first portion 4002 a proximate to thejoystick surface 4010 and to a first surface 111 a of the first magnet110. Additionally, the second magnet 4002 has a second portion 4002 bdistal from the joystick surface 4010 and the first surface 111 a of thefirst magnet 110. The first portion 4002 a of the second magnet 4002corresponds to a south magnetic pole S of the second magnet 4002, andthe second portion 4002 b of the second magnet 4002 corresponds to anorth magnetic pole N of the second magnet 4002 in the illustratedembodiment.

The first portion 4002 a of the second magnet 4002 may be attracted tothe first surface 111 a of the first magnet 110 and may be positioned incontact with the joystick surface 4010. Additionally, the second portion4002 b of the second magnet 4002 may be removably coupled to (e.g.,threaded or clamped onto) the first end 2404 a of the movable elongatedshaft 2404 in the illustrated embodiment. An attraction force betweenthe second magnet 4002 and the first magnet 110 results in a restoringforce upon the shaft 2404, with the restoring force allowing for theshaft 2404 to achieve the shown null or resting position whensubstantially no other force is applied to the shaft 2404. Additionally,a magnitude of the attraction force, as detected by magnetic fieldsensor 2420, as will be discussed, is associated with a joystickclassification according to the disclosure. The joystick classificationmay, for example, comprise a user classification, the userclassification being one of an administrator, a user, an operator and amanager. The user classification may additionally or alternativelycorrespond to any number of job titles or classifications as may besuitable for gaming applications. For example, a gaming application mayapply different software configurations based on the user classification(or “type” of joystick that is attached).

Specifically, magnetic field sensing elements 109 a, 109 b, 109 c ofmagnetic field sensor 2420 are configured to generate a respectiveplurality of magnetic field signals in response to a detected magneticfield, with the detected magnetic field being indicative of a positionof the second magnet 4002 relative to the first magnet 110, themagnitude of the attraction force between the second magnet 4002 and thefirst magnet 110, and the joystick classification associated with theattraction force.

In one embodiment, the magnitude of the attraction force and theassociated joystick classification are a function of size and/or a shapeof the second magnet 4002, with the second magnet 4002 capable of beingremoved from the first end 2404 a of the shaft 2404 and replaced withanother second magnet (e.g., depending upon a desired joystickclassification). For example, the second magnet 4002 may besubstantially spherical magnet, as shown, and the magnitude of theattraction force and the associated joystick classification may be afunction of a diameter of the second magnet 4002 coupled to the shaft2404. The second magnet 4002, which has a first diameter D1 in theillustrated embodiment, may result in the attraction force between thesecond magnet 4002 and the first magnet 110 having a first magnitude,with the first magnitude associated with a first joystick classification(e.g., user). Additionally, a second magnet 4012, which is shown indotted lines and has a second larger diameter D2 than the first diameterD1, may result in the attraction force having a second larger magnitudethan the first magnitude, with the second magnitude associated with asecond joystick classification (e.g., administrator).

Referring also to the side view of a similar joystick assembly 4100shown in FIG. 41, a second magnet 4102, which has a first shape, mayresult in the attraction force having a third magnitude, with the thirdmagnitude associated with a third joystick classification (e.g.,operator). Additionally, a second magnet 4112, which is shown in dottedlines and has a second shape which is different from the first shape,may result in the attraction force having a fourth larger magnitude thanthe third magnitude, with the fourth magnitude associated with a fourthjoystick classification (e.g., manager).

The magnitude of the attraction force and the associated joystickclassification may additionally or alternatively be a function of amaterial or materials of the second magnets (e.g., 4102). For example,the second magnet 4102 may comprise a first magnetic material or a firstcombination of magnetic materials (e.g., one or more ferromagneticmaterial(s) including, but not limited to, a hard ferrite,samarium-cobalt (SmCo), Neodymium Iron Boron (NdFeB), resulting in theattraction force having a fifth magnitude, with the fifth magnitudeassociated with a fifth joystick classification. Additionally, thesecond magnet 4112 may comprise a second magnetic material or a secondcombination of magnetic materials which is/are different from the firstmagnetic material or the first combination of magnetic materials,resulting in the attraction force having a sixth larger magnitude thanthe fifth magnitude, with the sixth magnitude associated with a sixthjoystick classification.

It should be appreciated that the second magnets according to thejoystick assemblies of FIGS. 40 and 41 may also be replaced with adifferent second magnet to adjust a weight of the second magnet (e.g.,based on user preferences and/or the application in which the joystickassembly is used). Adjusting a weight of the second magnet (e.g., 4102)may, for example, providing for different responsivity levels of theshaft 2404 to forces applied by a user. For example, with a heaviersecond magnet, the user would have to apply more force to the shaft 2404to move the shaft 2404 and the second magnet, allowing for slower andpotentially more precise movement of the shaft 2404 and the secondmagnet. In some embodiments, a sensitivity level of the magnetic fieldsensor 2420 may also be adjusted to provide for responsivity variations.

Referring to FIG. 42, another example joystick assembly 4200 accordingto a further embodiment of the disclosure is shown used with a device4208 including a joystick surface 4210, a magnetic field sensor 4220,and a first magnet 4230 having north and south magnetic poles. Themagnetic field sensor 4220, which can be the same as or similar tomagnetic field sensor 2420 described in figures above, is disposedbetween the joystick surface 4210 and the first magnet 4230 and includesa plurality of magnetic field sensing elements 4221 a, 4221 b, 4221 c(e.g., Hall effect elements).

The joystick assembly 4200 includes a second magnet 4202, a moveableelongated shaft 4204 and a motion restriction element 4208. The secondmagnet 4202 has north and south magnetic poles and at least a firstportion of the second magnet 4203 is attracted to the first magnet 4230and may be positioned in contact with a corresponding portion of thejoystick surface 4210, as shown. Additionally, at least a second portionof the second magnet 4202 is fixedly coupled to a first end 4204 a ofthe shaft 4204, which shaft 4204 also has a second opposing end 4204 barranged along a major axis 4205 of the shaft 4204.

The motion restriction element 4208, which may take the form of avariety of shapes and sizes, is coupled to proximate to the first end4204 a of the shaft 4204 in the illustrated embodiment and is configuredto restrict an excursion (e.g., a range of motion) of the second magnet4202 with respect to the joystick surface 4210 to a predeterminedexcursion. For example, the motion restriction element 4208 may take theform of a “C” shape and the dimensions of the motion restriction element4208 may be selected based, at least in part, on the predeterminedexcursion.

Referring also to a side view of example joystick assembly 4300 shown inFIG. 43, in which like elements of FIG. 42 are shown having likereference designations, a joystick assembly 4300 includes anotherexample motion restriction element 4308 having a first motionrestriction portion 4308 a and a second motion restriction portion 4308b. The first motion restriction portion 4308 a is coupled substantiallynear or proximate to the first end 4204 a of the shaft 4204 and thesecond motion restriction portion 4308 b is disposed on the joysticksurface 4310 of a device 4308 in FIG. 42. The second motion restrictionportion 4308 b may, for example, further restrict an excursion of thesecond magnet 4202 with respect to the joystick surface 4310 to thepredetermined excursion. Dimensions of the first and second motionrestriction portions 4308 a, 4308 b may, for example, be selected based,at least in part, on the predetermined excursion.

While motion restriction elements are only shown in the embodiments ofFIGS. 42 and 43, it should be appreciated that motion restrictionelements can be incorporated into substantially any of the joystickassemblies described above in conjunction with FIGS. 24-43.

As described above and as will be appreciated by those of ordinary skillin the art, embodiments of the disclosure herein may be configured as asystem, method, or combination thereof. Accordingly, embodiments of thepresent disclosure may be comprised of various means including hardware,software, firmware or any combination thereof.

All references cited herein are hereby incorporated herein by referencein their entirety.

It is to be appreciated that the concepts, systems, circuits andtechniques sought to be protected herein are not limited to use withparticular devices (e.g., mobile computing devices) but rather, may beuseful in substantially any device and application where it is desiredto have a joystick assembly. For example, while the joystick assembliesare described as suitable for use with mobile computing devices infigures above, it should be appreciated that the joystick assembliesdisclosed herein can also be found suitable for use in many otherdevices and applications including those found in an automobile, e.g.,for controlling an automobile stereo (e.g., for selection of a radiostation or a particular feature of the stereo) and/or for selection ofspecific terrain settings in a vehicle terrain management system of thevehicle for optimizing performance of the vehicle in various drivingconditions, such as mud, sand, and snow).

Having described preferred embodiments, which serve to illustratevarious concepts, structures and techniques, which are the subject ofthis patent, it will now become apparent that other embodimentsincorporating these concepts, structures and techniques may be used.

Additionally, elements of different embodiments described herein may becombined to form other embodiments not specifically set forth above.

Accordingly, it is submitted that the scope of the patent should not belimited to the described embodiments but rather should be limited onlyby the spirit and scope of the following claims.

What is claimed is:
 1. A joystick assembly for use with a devicecomprising a first magnet having north and south magnetic poles,comprising: a substantially spherical trackball comprising a secondmagnet having north and south magnetic poles, the trackball enclosingthe second magnet such that movement of the trackball results inmovement of the second magnet relative to the first magnet such that aline between centers of the north and south magnetic poles of the secondmagnet is movable relative to a line between the north and southmagnetic poles of the first magnet, wherein an attraction of the secondmagnet to the first magnet results in a restoring force upon thetrackball.
 2. The joystick assembly of claim 1, wherein the restoringforce results in the trackball being restored to a null position.
 3. Thejoystick assembly of claim 1, wherein the device further comprises acavity in which the trackball is fixedly and movably retained.
 4. Thejoystick assembly of claim 1, wherein the device further comprises ajoystick surface adjacent to the first magnet and a magnetic fieldsensor disposed between the joystick surface and the second magnet, themagnetic field sensor comprising a plurality of magnetic field sensingelements supported by a substrate and configured to generate arespective plurality of magnetic field signals and to detect a positionof the second magnet relative to the first magnet.
 5. The joystickassembly of claim 2, wherein the device further comprises a joysticksurface adjacent to the first magnet, and wherein the trackball isremovable from the joystick surface.
 6. The joystick assembly of claim1, further comprising a lubricant disposed over one or more portions ofthe trackball.
 7. The joystick assembly of claim 1, wherein thetrackball comprises a magnetic material providing the second magnet. 8.The joystick assembly of claim 1, wherein the trackball comprises anouter shell enclosing the second magnet.
 9. The joystick assembly ofclaim 1, wherein the joystick assembly is provided in a mobile computingdevice.
 10. The joystick assembly of claim 1, wherein the device is atleast one of a smartphone, a tablet computer, an instrumentationconsole, a video game console, a video game controller, a keyboard, anda laptop computer.